Draft: Update to RTEMS 6

.github/workflows/ci.yml

@@ -31,6 +31,8 @@ jobs:
               device-tree-compiler \
               u-boot-tools \
               lzop \
+              libgmp3-dev \
+              libmpfr-dev \
               libusb-1.0-0-dev \
               python3 \
               python-is-python3 \
@@ -46,6 +48,13 @@ jobs:
       - name: Build toolchain
         shell: bash
         run: |
+          # Hack: Downloading gmp often fails on github. Seems that the server
+          # is rate limited or something like that. So pre-fetch the file from a
+          # mirror.
+          make submodule-update
+          mkdir external/rtems-source-builder/rtems/sources
+          wget -O external/rtems-source-builder/rtems/sources/gmp-6.3.0.tar.bz2 https://ftp.gnu.org/gnu/gmp/gmp-6.3.0.tar.bz2
+          # Hack end
           make install
           if [ "$RUNNER_OS" == "Linux" ]; then
             make barebox

.gitignore

@@ -1,6 +1,7 @@
 /external/fdt/*.tar.gz
 /fdt/b-dtb
 /rtems/5
+/rtems/6
 build
 /demo*/b-*/
 external/libinih/b-imx7

Makefile

@@ -7,7 +7,7 @@ MAKEFILE_DIR = $(dir $(realpath $(firstword $(MAKEFILE_LIST))))
 ARCH = arm
 BSP = imx7
 BSP_GRISP1 = atsamv
-RTEMS_VERSION = 5
+RTEMS_VERSION = 6
 TARGET = $(ARCH)-rtems$(RTEMS_VERSION)
 PREFIX = $(MAKEFILE_DIR)/rtems/$(RTEMS_VERSION)
 RSB = $(MAKEFILE_DIR)/external/rtems-source-builder
@@ -83,28 +83,38 @@ help:
 
 .PHONY: install
 #H Build and install the complete toolchain, libraries, fdt and so on.
-install: submodule-update toolchain toolchain-revision bootstrap bsp bsp-grisp1 libbsd fdt bsp.mk libgrisp libinih cryptoauthlib barebox-install blas
+install: submodule-update toolchain toolchain-revision bsp libbsd fdt bsp.mk libgrisp libinih cryptoauthlib barebox-install blas
 
 .PHONY: submodule-update
 #H Update the submodules.
 submodule-update:
 	git submodule update --init
 	cd $(SRC_LIBBSD) && git submodule update --init rtems_waf
 
-.PHONY: bootstrap
-#H Run bootstrap for RTEMS.
-bootstrap:
-	cd $(SRC_RTEMS) && $(RSB)/source-builder/sb-bootstrap
-
 .PHONY: toolchain
 #H Build and install the toolchain.
 toolchain:
 	mkdir -p $(BUILD_LOGS)
 	rm -rf $(RSB)/rtems/build
+	# Downloading sometimes fails on the first try. So start with
+	# downloading twice
+	cd $(RSB)/rtems && ../source-builder/sb-set-builder \
+	    --source-only-download \
+	    --prefix=$(PREFIX) \
+	    --log=$(BUILD_LOGS)/rsb-toolchain.log \
+	    --with-fortran \
+	    $(RTEMS_VERSION)/rtems-$(ARCH) || true
 	cd $(RSB)/rtems && ../source-builder/sb-set-builder \
+	    --source-only-download \
 	    --prefix=$(PREFIX) \
 	    --log=$(BUILD_LOGS)/rsb-toolchain.log \
-		--with-fortran \
+	    --with-fortran \
+	    $(RTEMS_VERSION)/rtems-$(ARCH)
+	# Now build the tools
+	cd $(RSB)/rtems && ../source-builder/sb-set-builder \
+	    --prefix=$(PREFIX) \
+	    --log=$(BUILD_LOGS)/rsb-toolchain.log \
+	    --with-fortran \
 	    $(RTEMS_VERSION)/rtems-$(ARCH)
 	rm -rf $(RSB)/rtems/build
 
@@ -124,46 +134,16 @@ toolchain-revision:
 .PHONY: bsp
 #H Build the RTEMS board support package.
 bsp:
-	rm -rf $(BUILD_BSP)
-	mkdir -p $(BUILD_BSP)
-	cd $(BUILD_BSP) && $(SRC_RTEMS)/configure \
-	    --target=$(ARCH)-rtems$(RTEMS_VERSION) \
-	    --prefix=$(PREFIX) \
-	    --enable-posix \
-	    --enable-rtemsbsp=$(BSP) \
-	    --enable-maintainer-mode \
-	    --disable-networking \
-	    $(EXTRA_BSP_OPTS) \
-	    IMX_CCM_IPG_HZ=66000000 \
-	    IMX_CCM_UART_HZ=80000000 \
-	    IMX_CCM_AHB_HZ=66000000 \
-	    IMX_CCM_SDHCI_HZ=198000000 \
-	    IMX_CCM_ECSPI_HZ=60000000
-	cd $(BUILD_BSP) && make -j $(NUMCORE)
-	cd $(BUILD_BSP) && make -j $(NUMCORE) install
-
-.PHONY: bsp-grisp1
-#H Build the RTEMS board support package for GRiSP1.
-bsp-grisp1:
-	rm -rf $(BUILD_BSP_GRISP1)
-	mkdir -p $(BUILD_BSP_GRISP1)
-	cd $(BUILD_BSP_GRISP1) && $(SRC_RTEMS)/configure \
-	    --target=$(ARCH)-rtems$(RTEMS_VERSION) \
-	    --prefix=$(PREFIX) \
-	    --enable-posix \
-	    --enable-rtemsbsp=$(BSP_GRISP1) \
-	    --enable-maintainer-mode \
-	    --disable-networking \
-	    --disable-tests \
-	    $(EXTRA_BSP_OPTS) \
-	    --enable-chip=same70q21 \
-	    --enable-sdram=is42s16320f-7bl \
-	    ATSAM_CONSOLE_DEVICE_TYPE=1 \
-	    ATSAM_CONSOLE_DEVICE_INDEX=2 \
-	    ATSAM_MEMORY_QSPIFLASH_SIZE=0x0 \
-	    ATSAM_MEMORY_NOCACHE_SIZE=0x8000
-	cd $(BUILD_BSP_GRISP1) && make -j $(NUMCORE)
-	cd $(BUILD_BSP_GRISP1) && make -j $(NUMCORE) install
+	cd $(SRC_RTEMS) && ./waf clean || true
+	cp src/config.ini $(SRC_RTEMS)
+	if [ "$(DEBUG)" == "1" ]; then cd $(SRC_RTEMS) && sed -i \
+		-e "s|OPTIMIZATION_FLAGS = -O2|OPTIMIZATION_FLAGS = -O0|g" \
+		-e "s|RTEMS_DEBUG = False|RTEMS_DEBUG = True|g" \
+		config.ini; \
+		fi
+	cd $(SRC_RTEMS) && ./waf configure --prefix=$(PREFIX)
+	cd $(SRC_RTEMS) && ./waf
+	cd $(SRC_RTEMS) && ./waf install
 
 .PHONY: bsp.mk
 #H Build a Makefile helper for the applications.

demo/Makefile

@@ -1,5 +1,5 @@
 MAKEFILE_DIR = $(dir $(realpath $(firstword $(MAKEFILE_LIST))))
-RTEMS_ROOT ?= $(MAKEFILE_DIR)/../rtems/5
+RTEMS_ROOT ?= $(MAKEFILE_DIR)/../rtems/6
 RTEMS_BSP ?= imx7
 
 include $(RTEMS_ROOT)/make/custom/$(RTEMS_BSP).mk

demo/init.c

@@ -30,6 +30,7 @@
  */
 
 #undef EVENT_RECORDING
+#define RTC_ENABLED
 
 #include <assert.h>
 #include <stdlib.h>
@@ -45,6 +46,10 @@
 #include <rtems/stringto.h>
 #include <rtems/ftpd.h>
 #include <machine/rtems-bsd-commands.h>
+#ifdef RTC_ENABLED
+#include <libchip/rtc.h>
+#include <libchip/mcp7940m-rtc.h>
+#endif
 #ifdef EVENT_RECORDING
 #include <rtems/record.h>
 #include <rtems/recordserver.h>
@@ -57,6 +62,7 @@
 #define IS_GRISP2 1
 #endif
 
+#include <grisp.h>
 #ifdef IS_GRISP1
 #include <bsp/i2c.h>
 #include <grisp/pin-config.h>
@@ -69,6 +75,7 @@
 #include "sd-card-test.h"
 #include "1wire.h"
 #include "pmod_rfid.h"
+#include "pmod_dio.h"
 
 #define STACK_SIZE_INIT_TASK	(64 * 1024)
 #define STACK_SIZE_SHELL	(64 * 1024)
@@ -79,7 +86,6 @@
 #define PRIO_WPA		(RTEMS_MAXIMUM_PRIORITY - 1)
 
 #define SPI_FDT_NAME "spi0"
-#define SPI_BUS "/dev/spibus"
 
 #define CMD_SPI_MAX_LEN 32
 
@@ -249,16 +255,36 @@ Init(rtems_task_argument arg)
 	assert(rv == 0);
 #endif
 #ifdef IS_GRISP2
-	rv = spi_bus_register_imx(SPI_BUS, SPI_FDT_NAME);
-	assert(rv == 0);
+	if (grisp_is_industrialgrisp()) {
+		/* Industrial GRiSP */
+		rv = spi_bus_register_imx(GRISP_SPI_DEVICE,
+				GRISP_INDUSTRIAL_SPI_ONBOARD_FDT_ALIAS);
+		assert(rv == 0);
+		rv = spi_bus_register_imx(GRISP_SPI_DEVICE "-pmod",
+				GRISP_INDUSTRIAL_SPI_PMOD_FDT_ALIAS);
+		assert(rv == 0);
+
+		rv = i2c_bus_register_imx(GRISP_I2C0_DEVICE,
+				GRISP_INDUSTRIAL_I2C_FDT_ALIAS);
+		assert(rv == 0);
+	} else {
+		/* GRiSP2 */
+		rv = spi_bus_register_imx(GRISP_SPI_DEVICE,
+				GRISP_SPI_FDT_ALIAS);
+		assert(rv == 0);
 
-	rv = i2c_bus_register_imx("/dev/i2c-1", "i2c0");
-	assert(rv == 0);
+		rv = i2c_bus_register_imx("/dev/i2c-1", "i2c0");
+		assert(rv == 0);
 
-	rv = i2c_bus_register_imx("/dev/i2c-2", "i2c1");
-	assert(rv == 0);
+		rv = i2c_bus_register_imx("/dev/i2c-2", "i2c1");
+		assert(rv == 0);
+	}
 #endif /* IS_GRISP2 */
 
+#ifdef RTC_ENABLED
+	setRealTimeToRTEMS();
+#endif
+
 	printf("Init EEPROM\n");
 	grisp_eeprom_init();
 	rv = grisp_eeprom_get(&eeprom);
@@ -289,8 +315,11 @@ Init(rtems_task_argument arg)
 	grisp_init_dhcpcd(PRIO_DHCP);
 
 	grisp_led_set2(false, false, true);
-	sleep(3);
-	grisp_init_wpa_supplicant(wpa_supplicant_conf, PRIO_WPA, create_wlandev);
+	if (!grisp_is_industrialgrisp()) {
+		sleep(3);
+		grisp_init_wpa_supplicant(wpa_supplicant_conf, PRIO_WPA,
+		    create_wlandev);
+	}
 
 #ifdef EVENT_RECORDING
 	rtems_record_start_server(10, 1234, 10);
@@ -299,14 +328,30 @@ Init(rtems_task_argument arg)
 
 	init_led();
 #ifdef IS_GRISP2
-	// uncomment for testing RFID
-	//pmod_rfid_init(SPI_BUS, 1);
+	if (grisp_is_industrialgrisp()) {
+		pmod_rfid_init(GRISP_SPI_DEVICE, 0);
+		pmod_dio_init(GRISP_SPI_DEVICE);
+	} else {
+		// uncomment for testing RFID
+		//pmod_rfid_init(GRISP_SPI_DEVICE, 1);
+	}
 #endif /* IS_GRISP2 */
 	start_shell();
 
 	exit(0);
 }
 
+#ifdef RTC_ENABLED
+static struct mcp7940m_rtc rtc_ctx =
+	MCP7940M_RTC_INITIALIZER("/dev/i2c-1", 0x6f, false);
+
+rtc_tbl RTC_Table[] = {
+	MCP7940M_RTC_TBL_ENTRY("/dev/rtc", &rtc_ctx),
+};
+
+size_t RTC_Count = (sizeof(RTC_Table)/sizeof(rtc_tbl));
+#endif
+
 /*
  * Configure LibBSD.
  */
@@ -321,6 +366,9 @@ Init(rtems_task_argument arg)
  */
 #define CONFIGURE_MICROSECONDS_PER_TICK 10000
 
+#ifdef RTC_ENABLED
+#define CONFIGURE_APPLICATION_NEEDS_RTC_DRIVER
+#endif
 #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
 #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
 #define CONFIGURE_APPLICATION_NEEDS_STUB_DRIVER