Arduinoで、TrampolineというRTOSでblinkのexampleを動かしたときのメモ
Trampoline is a static RTOS for small embedded systems. Its API is aligned with OSEK/VDX OS and AUTOSAR OS 4.1 standards.
前記事のERIKA Enterpriseと同様にOSEK/VDXに対応RTOS
環境
- Windows7 64bit
- Arduino互換機: Seeeduino v3.0
- Arduino Software 1.6.7 (C:\EERT\arduino-1.6.7\ ... 前記事のを流用)
- git, makeが必要 (前記事のGNUPACKでいけるのでは..)
開発環境の準備
- コマンドプロンプトを開く(
cmd.exe) - trampolineのソース取得
-
git clone https://github.com/TrampolineRTOS/trampoline.git
=> 今回は、Commit: [289d197]を取得
- コンパイル済みgoilというOILコンパイラを取得
-
https://github.com/TrampolineRTOS/trampoline の下のほうにリンクあり
=> Windows: goil-windows.zip -
zipから、"goil.exe"を解凍してパスの通ったところにおく。
Version確認
% goil.exe --version --no-dialog
goil.exe : 2.1.27, build with GALGAS 3.1.4
No warning, no error.
3. `avr-gcc`へのPATHを通す
`set PATH=C:\EERT\arduino-1.6.7\hardware\tools\avr\bin;%PATH%`
```shell-session
% set PATH=C:\EERT\arduino-1.6.7\hardware\tools\avr\bin;%PATH%
% avr-gcc -v
Using built-in specs.
COLLECT_GCC=avr-gcc
COLLECT_LTO_WRAPPER=c:/eert/arduino-1.6.7/hardware/tools/avr/bin/../libexec/gcc/
avr/4.8.1/lto-wrapper.exe
Target: avr
Configured with: ../gcc-4.8.1/configure --enable-fixed-point --enable-languages= c,c++ --prefix=/c/jenkins/workspace/toolchain-avr-windows/objdir --enable-long-l ong --disable-nls --disable-checking --disable-libssp --disable-libada --disable -shared --enable-lto --with-avrlibc=yes --with-dwarf2 --disable-doc --target=avr
Thread model: single
gcc version 4.8.1 (GCC)
ビルド
- example - blinkのフォルダへ移動して
cd C:\EERT\trampoline\examples\avr\arduinoUno\blink
-
runGoil.batをしてみるrunGoil.bat
C:\EERT\trampoline\examples\avr\arduinoUno\blink>runGoil.bat
C:\EERT\trampoline\examples\avr\arduinoUno\blink>goil --target=avr/arduino --tem
plates=../../../../goil/templates/ blink.oil
/C/EERT/trampoline/goil/templates/root.goilTemplate:1:1:
2.1.26%
^
semantic error #1:
The version of Trampoline does not correspond to the version of goil
Version of Trampoline: 2.1.26
Version of goil : 2.1.27
Created '/C/EERT/trampoline/examples/avr/arduinoUno/blink/build/blink.oil.dep'.
No warning, 1 error.
- と、このようにおこられる。(Versionがあわない？)
3. `C:\EERT\trampoline\goil\templates\root.goilTemplate`の一行目の修正する
- `2.1.26%` => `2.1.27%`
```diff:root.goilTemplate
C:\EERT\trampoline\examples\avr\arduinoUno\blink>git diff
diff --git a/goil/templates/root.goilTemplate b/goil/templates/root.goilTemplate
index ec3b88c..607b596 100644
--- a/goil/templates/root.goilTemplate
+++ b/goil/templates/root.goilTemplate
@@ -1,4 +1,4 @@
-2.1.26%
+2.1.27%
# @file root.goilTemplate
#
# @section desc File description
-
再度、
runGoil.batrunGoil.bat
C:\EERT\trampoline\examples\avr\arduinoUno\blink>runGoil.bat
C:\EERT\trampoline\examples\avr\arduinoUno\blink>goil --target=avr/arduino --tem
plates=../../../../goil/templates/ blink.oil
Created 'blink/tpl_dispatch_table.c'.
Created 'blink/tpl_invoque.S'.
Created 'blink/tpl_invoque_isr.S'.
Created 'blink/tpl_os.h'.
Created 'blink/tpl_service_ids.h'.
Created 'Makefile'.
Created 'blink/tpl_app_custom_types.h'.
Created 'blink/tpl_app_config.c'.
Created 'blink/tpl_app_config.h'.
Created 'blink/tpl_ioc_api_config.c'.
Created 'blink/tpl_ioc_api_config.h'.
Created 'blink/tpl_app_define.h'.
Created 'blink/stm_structure.c'.
Replaced '/C/EERT/trampoline/examples/avr/arduinoUno/blink/build/blink.oil.dep'.
No warning, no error.
- => うまくいった
5. `make`する
```shell-session
% make
...
> make
compiling blink.cpp
avr-gcc -MD -MF build/blink.cpp.dep -Wall -Os -g -DF_CPU=16000000 -mmcu=atmega328p -I/usr/local/CrossPack-AVR/avr/include/ -I../../../../machines/avr/arduino//hardware/variants/standard -I../../../../machines/avr/arduino//hardware/cores/arduino -I../../../../machines/avr/arduino//hardware/libraries/EEPROM -I../../../../machines/avr/arduino//hardware/libraries/SoftwareSerial -I../../../../machines/avr/arduino//hardware/libraries/SPI -I../../../../machines/avr/arduino//hardware/libraries/Wire -I../../../../machines/avr -I../../../../machines/avr/arduino -Iblink -I../../../../os -I../../../../com -I../../../../ioc -I../../../../debug -c blink.cpp -o build/blink.cpp.o
...
...
...
generate hex file trampuinoBlink.hex
avr-objcopy -R .eeprom -O ihex trampuinoBlink trampuinoBlink.hex
=> trampuinoBlink.hexが生成される
書き込み・実演
生成されたarduino.hexをavrdudeを使って書き込む。
- 書き込み
% avrdude.exe -CC:\EERT\arduino-1.6.7\hardware\tools\avr\etc\avrdude.conf -v -patmega328p -carduino -PCOM7 -b57600 -D -Uflash:w:trampuinoBlink.hex:i
-
-PCOM7ってとこは、Arduinoを接続して、認識されたCOMポート番号。(Device Managerとかで確認する) - 書き込み後、自動でスタートして、LEDが約１秒ごとにON/OFFする。
-
avrdude.exe: writing flash (23514 bytes):ちとサイズでかい？
ソースコード
- OIL(OSEK Implementation Language)というファイルでアプリケーションの設定(コンフィギュレーション)を行い、
goilという、システムジェネレータ（SG)を使用して、C言語のソースファイルを出力する。 - OILファイルを変更したら、
goilを実行しないといけない。 - blinkサンプルでは、
ALARMを使用して、SystemCounterをCOUNTERとし、1000カウント毎に、periodicTaskタスクをおこしている(ActivateTask) - SystemCounterは周期1.024ms
- ALARMTIME = 250, CYCLETIME = 250 とかにすると、はやくなる。
/* Running the following example:
...
*/
OIL_VERSION = "2.5" : "test" ;
CPU test {
OS config {
STATUS = STANDARD;
ARDUINO = TRUE {
BOARD = UNO;
SERIAL = TRUE;
PORT = "/dev/tty.usbmodem1411";
AVR_LIBC = "/usr/local/CrossPack-AVR/avr/include/";
};
BUILD = TRUE {
TRAMPOLINE_BASE_PATH = "../../../..";
APP_NAME = "trampuinoBlink";
APP_SRC = "blink.cpp";
COMPILER = "avr-gcc";
LINKER = "avr-gcc";
ASSEMBLER = "avr-gcc";
};
SYSTEM_CALL = TRUE;
};
APPMODE std {};
ALARM periodicAl {
COUNTER= SystemCounter;
ACTION = ACTIVATETASK {
TASK = periodicTask;
};
AUTOSTART = TRUE {
ALARMTIME = 1000; //activated each 1024 ms
CYCLETIME = 1000; //activated each 1024 ms
APPMODE = std;
};
};
TASK periodicTask {
PRIORITY = 20;
AUTOSTART = FALSE;
//AUTOSTART = TRUE {APPMODE=std;};
ACTIVATION = 1;
SCHEDULE = FULL;
STACKSIZE = 256;
};
};
// see blink.oil head of file for information about the compilation process.
#include "tpl_os.h"
#include "Arduino.h"
void setup()
{
// initialize digital pin 13 as an output.
pinMode(13, OUTPUT);
}
//The TASK is activated by the alarm "periodicAl":
//* The alarm "periodicAl" is configured in the .oil file to activate task
//"periodicTask" each 1000 pulses of counter SystemCounter.
//* The SystemCounter is the same as the systick used in Arduino, a tick each 1024us on a 16MHz arduino.
//* This task is periodic, with a period of 1024ms.
TASK(periodicTask)
{
static unsigned int nb = 0;
nb++;
if(nb & 1) digitalWrite(13, HIGH); //odd
else digitalWrite(13, LOW); //even
}