path: root/develenv/develenv.rst

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.. COMMENT: @shorttitlepage RTEMS Development Environment Guide

===================================
RTEMS Development Environment Guide
===================================

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COPYRIGHT © 1988 - 2015.

On-Line Applications Research Corporation (OAR).

The authors have used their best efforts in preparing
this material.  These efforts include the development, research,
and testing of the theories and programs to determine their
effectiveness.  No warranty of any kind, expressed or implied,
with regard to the software or the material contained in this
document is provided.  No liability arising out of the
application or use of any product described in this document is
assumed.  The authors reserve the right to revise this material
and to make changes from time to time in the content hereof
without obligation to notify anyone of such revision or changes.

The RTEMS Project is hosted at http://www.rtems.org.  Any
inquiries concerning RTEMS, its related support components, or its
documentation should be directed to the Community Project hosted athttp://www.rtems.org.

Any inquiries for commercial services including training, support, custom
development, application development assistance should be directed tohttp://www.rtems.com.

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.. COMMENT: The alternative is to rework a sentence to avoid this problem.

RTEMS Development Environment Guide
###################################

.. COMMENT: COPYRIGHT (c) 1989-2011.

.. COMMENT: On-Line Applications Research Corporation (OAR).

.. COMMENT: All rights reserved.

Introduction
############

This document describes the RTEMS development
environment.  Discussions are provided for the following topics:

- the directory structure used by RTEMS,

- usage of the GNU Make utility within the RTEMS
  development environment,

- sample applications, and

- the RTEMS specific utilities.

RTEMS was designed as a reusable software component.
Highly reusable software such as RTEMS is typically distributed
in the form of source code without providing any support tools.
RTEMS is the foundation for a complex family of facilities
including board support packages, device drivers, and support
libraries.  The RTEMS Development Environment is not a CASE
tool.  It is a collection of tools designed to reduce the
complexity of using and enhancing the RTEMS family.  Tools are
provided which aid in the management of the development,
maintenance, and usage of RTEMS, its run-time support
facilities, and applications which utilize the executive.

A key component of the RTEMS development environment
is the GNU family of free tools.  This is  robust set of
development and POSIX compatible tools for which source code is
freely available.  The primary compilers, assemblers, linkers,
and make utility used by the RTEMS development team are the GNU
tools.  They are highly portable supporting a wide variety of
host computers and, in the case of the development tools, a wide
variety of target processors.

It is recommended that the RTEMS developer become
familiar with the RTEMS Development Environment before
proceeding with any modifications to the executive source tree.
The source code for the executive is very modular and source
code is divided amongst directories based upon functionality as
well as dependencies on CPU and target board.  This organization
is aimed at isolating and minimizing non-portable code.  This
has the immediate result that adding support for a new CPU or
target board requires very little "wandering" around the source
tree.

.. COMMENT: COPYRIGHT (c) 1989-2010.

.. COMMENT: On-Line Applications Research Corporation (OAR).

.. COMMENT: All rights reserved.

Directory Structure
###################

The RTEMS directory structure is designed to meet
the following requirements:

- encourage development of modular components.

- isolate processor and target dependent code, while
  allowing as much common source code as possible to be shared
  across multiple processors and target boards.

- allow multiple RTEMS users to perform simultaneous
  compilation of RTEMS and its support facilities for different
  processors and targets.

The resulting directory structure has processor and
board dependent source files isolated from generic files.  When
RTEMS is configured and built, object directories and
an install point will be automatically created based upon
the target CPU family and BSP selected.

The placement of object files based upon the selected BSP name
ensures that object files are not mixed across CPUs or targets.
This in combination with the makefiles allows the specific
compilation options to be tailored for a particular target
board.  For example, the efficiency of the memory subsystem for
a particular target board may be sensitive to the alignment of
data structures, while on another target board with the same
processor memory may be very limited.  For the first target, the
options could specify very strict alignment requirements, while
on the second the data structures could be *packed* to conserve
memory.  It is impossible to achieve this degree of flexibility
without providing source code.

The RTEMS source tree is organized based on the following variables:

- functionality,

- target processor family,

- target processor model,

- peripherals, and

- target board.

Each of the following sections will describe the
contents of the directories in the RTEMS source
tree.  The top of the tree will be referenced
as ``${RTEMS_ROOT}`` in this discussion.

.. COMMENT: Top Level Tree

.. COMMENT: @ifset use-ascii
.. code:: c

    rtems-VERSION
    |
    +--------+----+----+----+--+-----+---+-------+--------+
    |        |    |    |       |     |   |       |        |
    aclocal automake c contrib  cpukit doc make testsuites tools

.. COMMENT: @end ifset

``${RTEMS_ROOT}/aclocal/``
    This directory contains the custom M4 macros which are available to
    the various GNU autoconf ``configure.ac`` scripts throughout
    the RTEMS source tree.  GNU autoconf interprets ``configure.ac``
    files to produce the ``configure`` files used to tailor
    RTEMS build for a particular host and target environment.  The
    contents of this directory will not be discussed further in this
    document.

``${RTEMS_ROOT}/automake/``
    This directory contains the custom GNU automake fragments
    which are used to support the various ``Makefile.am``
    files throughout the RTEMS source tree.  The
    contents of this directory will not be discussed
    further in this document.

``${RTEMS_ROOT}/c/``
    This directory is the root of the portions of the RTEMS source
    tree which must be built tailored for a particular CPU model
    or BSP.  The contents of this directory will be discussed
    in the :ref:`Directory Structure c/ Directory <Directory-Structure-c_002f-Directory>` section.

``${RTEMS_ROOT}/contrib/``
    This directory contains contributed support software.  Currently
    this directory contains the RPM specifications for cross-compilers
    hosted on GNU/Linux that target various operating systems
    including MinGW, Cygwin, FreeBSD, and Solaris.  The
    cross-compilers produced using these specifications are then
    used in a Canadian cross build procedure to produce the various
    RTEMS toolsets on a GNU/Linux host.
    This directory also contains RPM specifications for the
    prebuilt cross-compilation toolsets provided by the
    RTEMS project.  There are separate subdirectories
    for each of the components in the RTEMS Cross Compilation
    Environment unde the  ``contrib/crossrpms/`` directory.
    This directory is configured, built, and installed separately
    from the RTEMS executive and tests.  This directory will not
    be discussed further in this document.

``${RTEMS_ROOT}/cpukit/``
    This directory is the root for all of the "multilib’able"
    portions of RTEMS.  This is a GNU way of saying the
    contents of this directory can be compiled like the
    C Library (``libc.a``) and the functionality is
    neither CPU model nor BSP specific.  The source code
    for most RTEMS services reside under this directory.
    The contents of this directory will be discussed
    in the :ref:`Directory Structure CPU Kit Directory <Directory-Structure-CPU-Kit-Directory>` section.

``${RTEMS_ROOT}/doc/``
    This directory is the root for all RTEMS documentation.
    The source for RTEMS is written in GNU TeXinfo and
    used to produce HTML, PDF, and "info" files.
    The RTEMS documentation is configured, built,
    and installed separately from the RTEMS executive and tests.
    The contents of this directory will be discussed
    in the :ref:`Directory Structure Documentation Directory <Directory-Structure-Documentation-Directory>` section.

``${RTEMS_ROOT}/make/``
    This directory contains files which support the
    RTEMS Makefile’s.  From a user’s perspective, the
    most important parts are found in the ``custom/``
    subdirectory.  Each ".cfg" file in this directory
    is associated with a specific BSP and describes
    the CPU model, compiler flags, and procedure to
    produce an executable for the target board.
    These files are described in detail in the*RTEMS BSP and Device Driver Development Guide*
    and will not be discussed further in this document.

``${RTEMS_ROOT}/testsuites/``
    This directory contains the test suites for the
    various RTEMS APIs and support libraries.  The
    contents of this directory are discussed in the:ref:`Directory Structure testsuites/ Test Suites <Directory-Structure-testsuites_002f-Test-Suites>` section.

``${RTEMS_ROOT}/tools/``
    This directory contains RTEMS specific support utilities which
    execute on the development host.  These utilities are divided
    into subdirectories based upon whether they are used in the process
    of building RTEMS and applications, are CPU specific, or are
    used to assist in updating the RTEMS source tree and applications.
    The support utilities used in the process of building RTEMS are
    described in :ref:`RTEMS Specific Utilities <RTEMS-Specific-Utilities>`.  These are the
    only components of this subtree that will be discussed in this
    document.

.. COMMENT: c/ Directions

.. _Directory-Structure-c_002f-Directory:

c/ Directory
============

The ``${RTEMS_ROOT}/c/`` directory was formerly
the root directory of all RTEMS source code.  At this time, it contains
the root directory for only those RTEMS components
which must be compiled or linked in a way that is specific to a
particular CPU model or board.  This directory contains the
following subdirectories:

``${RTEMS_ROOT}/c/src/``
    This directory is logically the root for the RTEMS components
    which are CPU model or board dependent.  Thus this directory
    is the root for the BSPs and the Ada Test Suites as well
    as CPU model and BSP dependent libraries.  The contents of
    this directory are discussed in the:ref:`Directory Structure c/src/ Directory <Directory-Structure-c_002fsrc_002f-Directory>` section.

.. COMMENT: c/src/ Directory

.. _Directory-Structure-c_002fsrc_002f-Directory:

c/src/ Directory
----------------

As mentioned previously, this directory is logically
the root for the RTEMS components
which are CPU model or board dependent.  The
following is a list of the subdirectories in this
directory and a description of each.

``${RTEMS_ROOT}/c/src/aclocal/``
    This directory contains the custom M4 macros which are available to
    the various GNU autoconf ``configure.ac`` scripts throughout
    this portion of the RTEMS source tree.  GNU autoconf interprets``configure.ac`` files to produce the ``configure`` files used
    to tailor RTEMS build for a particular host and target environment.  The
    contents of this directory will not be discussed further in this
    document.

``${RTEMS_ROOT}/c/src/ada/``
    This directory contains the Ada95 language bindings to the
    RTEMS Classic API.

``${RTEMS_ROOT}/c/src/ada-tests/``
    This directory contains the test suite for the Ada
    language bindings to the Classic API.

``${RTEMS_ROOT}/c/src/automake/``
    This directory contains files which are "Makefile fragments."
    They are included as required by the various ``Makefile.am``
    files throughout this portion of the RTEMS source tree.

``${RTEMS_ROOT}/c/src/lib/``
    This directory contains the directories ``libbsp/``
    and ``libcpu/`` which contain the source code for
    the Board Support Packages (BSPs) and CPU Model
    specific source code for RTEMS.
    The ``libbsp/`` is organized based upon the CPU
    family and boards BSPs.  The contents of ``libbsp/``
    are discussed briefly in:ref:`Directory Structure c/src/lib/libbsp BSP Directory <Directory-Structure-c_002fsrc_002flib_002flibbsp-BSP-Directory>`
    and presented in detail in the*RTEMS BSP and Device Driver Development Guide*.
    The ``libcpu/`` directory is also organized by
    CPU family with further divisions based upon CPU
    model and features that are shared across CPU models
    such as caching and DMA.

``${RTEMS_ROOT}/c/src/libchip/``
    This directory contains device drivers for various
    peripheral chips which are designed to be CPU and
    board dependent.  This directory contains a variety
    of drivers for serial devices, network interface
    controllers, shared memory and real-time clocks.

``${RTEMS_ROOT}/c/src/librtems++/``
    This directory contains C++ classes which map to the RTEMS
    Classic API.

``${RTEMS_ROOT}/c/src/make/``
    This directory is used to generate the bulk of the supporting
    rules files which are installed as part of the Application Makefiles.
    This file contains settings for various Makefile variables to
    tailor them to the particular CPU model and BSP configured.

``${RTEMS_ROOT}/c/src/nfsclient/``
    This directory contains a Network File System (NFS) client
    for RTEMS.  With this file system, a user’s application can
    access files on a remote computer.

``${RTEMS_ROOT}/c/src/optman/``
    This directory contains stubs for the RTEMS Classic API
    Managers which are considered optional and whose use
    may be explicitly forbidden by an application.  All of the
    directive implementations in this Optional Managers
    return ``E_NOTCONFIGURED``.

``${RTEMS_ROOT}/c/src/support/``
    This directory exists solely to generate the RTEMS
    version string which includes the RTEMS version,
    CPU architecture, CPU model, and BSP name.

``${RTEMS_ROOT}/c/src/wrapup/``
    This directory is responsible for taking the individual
    libraries and objects built in each of the components
    in the RTEMS source tree and bundling them together to form
    the single RTEMS library ``librtemsbsp.a``.  This
    library contains all BSP and CPU model specific software.

.. COMMENT: c/src/lib/libbsp BSP Directory

.. _Directory-Structure-c_002fsrc_002flib_002flibbsp-BSP-Directory:

c/src/lib/libbsp BSP Directory
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

The "libbsp" directory contains a directory for each CPU family supported
by RTEMS.  Beneath each CPU directory is a directory for each BSP for that
processor family.

.. COMMENT: Tree 7 - C BSP Library

The "libbsp" directory provides all the BSPs provided with this
release of the RTEMS executive.  The subdirectories are
divided,  as discussed previously, based on specific processor
family, then further broken down into specific target board
environments.  The "no_cpu" subdirectory provides a starting point
template BSP which can be used to develop a specific BSP for an
unsupported target board.  The files in this subdirectory may aid
in preliminary testing of the RTEMS development environment that has
been built for no particular target in mind.

Below each CPU dependent directory is a directory for each target BSP
supported in this release.

Each BSP provides the modules which comprise an RTEMS BSP.  The
modules are separated into the subdirectories "clock", "console",
"include", "shmsupp", "startup", and "timer" as shown in the following
figure:

.. COMMENT: Tree 8 - Each BSP

.. COMMENT: @ifset use-ascii
.. code:: c

    Each BSP
    |
    +-----------+----------+-----+-----+----------+----------+
    |           |          |           |          |          |
    clock      console    include     shmsupp    startup     timer

.. COMMENT: @end ifset

.. COMMENT: CPU Kit Directory

.. _Directory-Structure-CPU-Kit-Directory:

CPU Kit Directory
=================

.. COMMENT: The @code{cpukit/} directory structure is as follows:

.. COMMENT: CPU Kit Tree

.. COMMENT: @ifset use-ascii

.. COMMENT: @example

.. COMMENT: @group

.. COMMENT: cpukit

.. COMMENT: |

.. COMMENT: +-+-+-+-+

.. COMMENT: |           |          |           |          |

.. COMMENT: posix       rtems       sapi       score     wrapup

.. COMMENT: @end group

.. COMMENT: @end example

.. COMMENT: @end ifset

The ``cpukit/`` directory contains a set of subdirectories which
contains the source files comprising the executive portion of
the RTEMS development environment as well as portable support
libraries such as support for the C Library and filesystems.
The API specific and "SuperCore" (e.g. ``score/`` directory)
source code files are separated into distinct directory trees.

The following is a description of each of the subdirectories
under ``cpukit/``:

``${RTEMS_ROOT}/cpukit/aclocal/``
    This directory contains the custom M4 macros which are available to
    the various GNU autoconf ``configure.ac`` scripts throughout
    the CPU Kit portion of the RTEMS source tree.
    GNU autoconf interprets ``configure.ac``
    files to produce the ``configure`` files used to tailor
    RTEMS build for a particular host and target environment.  The
    contents of this directory will not be discussed further in this
    document.

``${RTEMS_ROOT}/cpukit/automake/``
    This directory contains files which are "Makefile fragments."
    They are included as required by the various ``Makefile.am``
    files throughout the CPU Kit portion of the RTEMS source tree.

``${RTEMS_ROOT}/cpukit/ftpd/``
    This directory contains the RTEMS ftpd server.

``${RTEMS_ROOT}/cpukit/httpd/``
    This directory contains the port of the GoAhead
    web server to RTEMS.

``${RTEMS_ROOT}/cpukit/include/``
    This directory contains header files which are private to
    RTEMS and not considered to be owned by any other component
    in the CPU Kit.

``${RTEMS_ROOT}/cpukit/libblock/``
    This directory contains support code for using
    Block Devices such as hard drives, floppies, and
    CD-ROMs.  It includes the generic IO primitives
    for block device drivers, disk caching support,
    and a RAM disk block device driver.

``${RTEMS_ROOT}/cpukit/libcsupport/``
    This directory contains the RTEMS specific support routines
    for the Newlib C Library.  This includes what are referred
    to as system calls and found in section 2 of the traditional
    UNIX manual.   In addition, it contains a thread-safe
    implementation of the Malloc family of routines as well
    as BSD and POSIX services not found in Newlib.

``${RTEMS_ROOT}/cpukit/libfs/``
    This directory contains the various non-networked
    filesystem implementations for RTEMS.  It includes
    the In-Memory FileSystem (IMFS), the mini-IMFS,
    and FAT filesystems.

``${RTEMS_ROOT}/cpukit/libi2c/``
    This directory contains the RTEMS I2C framework.

``${RTEMS_ROOT}/cpukit/libmd/``
    This directory contains a port of the standard MD5
    checksum code.

``${RTEMS_ROOT}/c/src/libmisc/``
    This directory contains support facilities which
    are RTEMS specific but otherwise unclassified.  In
    general, they do not adhere to a standard API.
    Among the support facilities in this directory are
    a ``/dev/null`` device driver, the Stack
    Overflow Checker, a mini-shell, the CPU and
    rate monotonic period usage monitoring libraries,
    and a utility to "dump a buffer" in a nicely
    formatted way similar to many ROM monitors.

``${RTEMS_ROOT}/cpukit/libnetworking/``
    This directory contains the port of the FreeBSD
    TCP/IP stack to RTEMS.

``${RTEMS_ROOT}/cpukit/librpc/``
    This directory contains the port of the FreeBSD
    RPC/XDR source to RTEMS.

``${RTEMS_ROOT}/cpukit/libpci/``
    This directory contains RTEMS PCI Library.

``${RTEMS_ROOT}/cpukit/posix/``
    This directory contains the RTEMS implementation
    of the threading portions of the POSIX API.

``${RTEMS_ROOT}/cpukit/pppd/``
    This directory contains a port of the free implementation
    of the PPPD network protocol.

``${RTEMS_ROOT}/cpukit/rtems/``
    This directory contains the implementation of the
    Classic API.

``${RTEMS_ROOT}/cpukit/sapi/``
    This directory contains the implementation of RTEMS
    services which are required but beyond the realm
    of any standardization efforts.  It includes
    initialization, shutdown, and IO services.

``${RTEMS_ROOT}/cpukit/score/``
    This directory contains the "SuperCore" of RTEMS.
    All APIs are implemented in terms of SuperCore services.
    For example, Classic API tasks and POSIX threads
    are all implemented in terms of SuperCore threads.
    This provides a common infrastructure and a high degree
    of interoperability between the APIs.  For example,
    services from all APIs may be used by any task/thread
    independent of the API used to create it.
    Within the ``score/`` directory the CPU dependent modules are found.
    The ``score/cpu/`` subdirectory contains a subdirectory for each
    target CPU supported by this release of the RTEMS
    executive.  Each processor directory contains the CPU dependent
    code necessary to host RTEMS.  The ``no_cpu`` directory provides a
    starting point for developing a new port to an unsupported
    processor.  The files contained within the ``no_cpu`` directory
    may also be used as a reference for the other ports to specific
    processors.

``${RTEMS_ROOT}/cpukit/shttpd/``
    This directory contains the port of the Simple HTTPD
    web server to RTEMS.

``${RTEMS_ROOT}/cpukit/telnetd/``
    This directory contains the RTEMS telnetd server.

``${RTEMS_ROOT}/cpukit/wrapup/``
    This directory is responsible for taking the individual
    libraries and objects built in each of the components
    in the RTEMS CPU Kit source tree and bundling them
    together to form the single RTEMS library ``librtemscpu.a``.  This
    library contains all BSP and CPU model specific software.

``${RTEMS_ROOT}/cpukit/zlib/``
    This directory contains a port of the GNU Zlib compression
    library to RTEMS.

.. COMMENT: testsuites/ Test Suites

.. _Directory-Structure-testsuites_002f-Test-Suites:

testsuites/ Test Suites
=======================

This directory provides all of the RTEMS Test Suite
except those for the Classic API Ada95 binding
This includes the single processor tests, multiprocessor tests,
timing tests, library tests, and sample tests.   Additionally,
subdirectories for support functions and test related header
files are provided.  The following table lists the test suites
currently included with the RTEMS and the directory in which
they may be located:

``${RTEMS_ROOT}/testsuites/libtests/``
    This directory contains the test suite for the
    various RTEMS support components.

``${RTEMS_ROOT}/testsuites/mptests/``
    This directory contains the test suite for the
    multiprocessor support in the Classic API.
    The tests provided address two node configurations
    and provide coverage for the multiprocessor code found
    in RTEMS.

``${RTEMS_ROOT}/testsuites/psxtests/``
    This directory contains the test suite for the
    RTEMS POSIX API.

``${RTEMS_ROOT}/testsuites/samples/``
    This directory provides sample application tests
    which aid in the testing a newly built RTEMS environment, a new
    BSP, or as starting points for the development of an application
    using the RTEMS executive.  They are discussed in:ref:`Sample Applications <Sample-Applications>`.

``${RTEMS_ROOT}/testsuites/sptests/``
    This directory contains the test suite for the RTEMS
    Classic API when executing on a single processor.
    The tests were originally designed to provide
    near complete test coverage for the entire
    executive code.  With the addition of multiple APIs,
    this is no longer the case as some SuperCore functionality
    is not available through the Classic API.  Thus
    some functionality in the SuperCore is only covered
    by tests in the POSIX API Test Suites.

``${RTEMS_ROOT}/testsuites/support/``
    This directory contains support software and header files
    for the various test suites.

``${RTEMS_ROOT}/testsuites/tmtests/``
    This directory contains the timing test suite for
    the RTEMS Classic API.  This include tests that
    benchmark each directive in the Classic API
    as well as a set of critical SuperCore functions.
    These tests are important for helping to verify
    that RTEMS performs as expected on your target hardware.
    It is not uncommon to discover mistakes in board
    initialization such as caching being disabled as
    a side-effect of analyzing the results of these tests.

``${RTEMS_ROOT}/testsuites/tools/``
    This directory contains tools which execute on
    the development host and aid in executing and
    evaluating the results of the test suite.  The
    tools ``difftest`` compares the output of one
    or more tests with the expected output.  If you
    place the output of all the ``tmtests/`` in
    a single file, then the utility ``sorttimes``
    will be able to produce a report organizing the
    execution times by manager.

.. COMMENT: Documentation Directory

.. _Directory-Structure-Documentation-Directory:

Documentation Directory
=======================

This directory contains the source code for all RTEMS documentation
in ``TexInfo`` format as well as utilities used in the generation
of the RTEMS documentation set.  This source code is used to produce
the RTEMS documentation in various formats including PDF, HTML,
and PostScript.

``${RTEMS_ROOT}/doc/ada_user/``
    This directory contains the source code for the *RTEMS
    Applications Ada User’s Guide* which documents the Ada95
    binding to the Classic API.  This manual is produced from
    from the same source base as the *RTEMS Application
    C User’s Guide*.

``${RTEMS_ROOT}/doc/bsp_howto/``
    This directory contains the source code for the*RTEMS BSP and Device Driver Development Guide*.

``${RTEMS_ROOT}/doc/common/``
    This directory contains the source code for the files which
    are shared across multiple manuals in the RTEMS Documentation Set.
    This includes the copyright page as well as the timing
    tables which can be filled in on a per BSP basis in the
    CPU supplements.

``${RTEMS_ROOT}/doc/cpu_supplement/``
    This directory contains the source code for the
    RTEMS CPU Supplement.

``${RTEMS_ROOT}/doc/develenv/``
    This directory contains the source code for the*RTEMS Development Environment Guide*.  This is
    the document you are currently reading.

``${RTEMS_ROOT}/doc/filesystem/``
    This directory contains the source code for the*RTEMS Filesystem Design Guide*.  This manual
    is a continuous work in process as it attempts to
    capture the design of the interface between system
    calls and filesystem implementations as well as the
    information required by those implementing filesystems.

``${RTEMS_ROOT}/doc/images/``
    This directory contains the source code for the graphics
    used in the HTML version of the RTEMS Documentation.

``${RTEMS_ROOT}/doc/networking/``
    This directory contains the source code for the*RTEMS Network Supplement*.

``${RTEMS_ROOT}/doc/new_chapters/``
    This directory contains the source code for the new documentation
    components which have not yet been collected into a new manual or
    merged into an existing document.  Currently, this primarily
    contains draft documentation for some portions of
    the facilities implemented in ``${RTEMS_ROOT}/c/src/libmisc/``.

``${RTEMS_ROOT}/doc/porting/``
    This directory contains the source code for the*RTEMS Porting Guide*.

``${RTEMS_ROOT}/doc/posix1003.1/``
    This directory contains the source code for the*RTEMS POSIX 1003.1 Compliance Guide*.

``${RTEMS_ROOT}/doc/posix_users/``
    This directory contains the source code for the*RTEMS POSIX API User’s Guide*.  It is important to
    note that RTEMS’ support for POSIX is a combination of
    functionality provided by RTEMS and the Newlib C Library
    so some functionality is documented by Newlib.

``${RTEMS_ROOT}/doc/relnotes/``
    This directory contains the source code for a formally
    release notes document.  This has not been used for
    recent RTEMS releases.

``${RTEMS_ROOT}/doc/started/``
    This directory contains the source code for the*Getting Started with RTEMS for C/C++ Users* manual.

``${RTEMS_ROOT}/doc/tools/``
    This directory contains the source code for the tools
    used on the development host to assist in producing the
    RTEMS Documentation.  The most important of these tools
    is ``bmenu`` which generates the hierarchical node
    linking commands based upon chapter, section, and
    subsection organization.

``${RTEMS_ROOT}/doc/user/``
    This directory contains the source code for the *RTEMS
    Applications C User’s Guide* which documents the Classic API.

.. COMMENT: COPYRIGHT (c) 1989-2007.

.. COMMENT: On-Line Applications Research Corporation (OAR).

.. COMMENT: All rights reserved.

.. _Sample-Applications:

Sample Applications
###################

Introduction
============

The RTEMS source distribution includes a set of sample applications
that are located in the ``${RTEMS_ROOT}/testsuites/samples/``
directory.  These applications are intended to illustrate the
basic format of RTEMS single and multiple processor
applications and the use of some features.  In addition, these
relatively simple applications can be used to test locally
developed board support packages and device drivers as they
exercise a critical subset of RTEMS functionality that is often
broken in new BSPs.

Some of the following sample applications will be covered in
more detail in subsequent sections:

*Hello World*
    The RTEMS Hello World test is provided in
    the subdirectory ``${RTEMS_ROOT}/testsuites/samples/hello/``.
    This test is helpful when testing new RTEMS development environment.

*Clock Tick*
    The ``${RTEMS_ROOT}/testsuites/samples/ticker/``
    subdirectory provides a test for verification of clock chip
    device drivers of BSPs.

*Base Single Processor*
    A simple single processor test similar to those in the
    single processor test suite is provided in``${RTEMS_ROOT}/testsuites/samples/base_sp/``.

*Base Multiple Processor*
    A simple two node multiprocessor test capable of testing an newly
    developed MPCI layer is provided in``${RTEMS_ROOT}/testsuites/samples/base_mp/``.

*Capture*
    The RTEMS Capture test is provided in
    the subdirectory ``${RTEMS_ROOT}/testsuites/samples/capture/``.
    This is an interactive test which demonstrates the capabilities
    of the RTEMS Capture Engine.  It includes a few test threads
    which generate interesting execution patterns.  Look at the
    file ``${RTEMS_ROOT}/testsuites/samples/capture/capture.scn``
    for a sample session.

*Constructor/Destructor C++ Test*
    The ``${RTEMS_ROOT}/testsuites/samples/cdtest/``
    subdirectory provides a simple C++ application using
    constructors and destructors.  It is only built when
    C++ is enabled and its primary purpose is to demonstrate
    that global constructors and destructors work.  Since this
    requires that the linker script for your BSP be correct, this is
    an important test.

*File IO*
    The RTEMS File IO test is provided in
    the subdirectory ``${RTEMS_ROOT}/testsuites/samples/fileio/``.
    This is an interactive test which allows the user to interact with
    an ATA/IDE device.  It will read the partition table and allow the
    user to dynamically mount one of the FAT32 partitions it finds.
    Commands are also provided to write and read files on the disk.

*IO Stream*
    The RTEMS IO Stream test is provided in
    the subdirectory ``${RTEMS_ROOT}/testsuites/samples/iostream/``.
    This test is a simple C++ application which demonstrates that
    C++ iostreams are functional. This requires that the RTEMS C++
    run-time support is functioning properly.  This test is only
    build when C++ is enabled.

*Network Loopback Test*
    The ``${RTEMS_ROOT}/testsuites/samples/loopback/``
    directory contains a sample test that demonstrates the use of
    sockets and the loopback network device.  It does not require
    the presence of network hardware in order to run.
    It is only built if RTEMS was configured with networking enabled.

*Minimum Size Test*
    The directory``${RTEMS_ROOT}/testsuites/samples/minimum/``
    contains a simple RTEMS program that results in a non-functional
    executable.  It is intended to show the size of a minimum footprint
    application based upon the current RTEMS configuration.

*Nanoseconds*
    The RTEMS Nanoseconds test is provided in
    the subdirectory ``${RTEMS_ROOT}/testsuites/samples/nsecs/``.
    This test demonstrates that the BSP has support for nanosecond
    timestamp granularity.  It prints the time of day and uptime multiple
    times as quickly as possible.  It should be possible from the output
    to determine if your BSP has nanosecond accurate clock support
    and it is functional.

*Paranoia Floating Point Test*
    The directory ``${RTEMS_ROOT}/testsuites/samples/paranoia/``
    contains the public domain floating point and math library test.

*Point-to-Point Protocol Daemon*
    The RTEMS Point-to-Point Protocol Daemon test is provided in
    the subdirectory ``${RTEMS_ROOT}/testsuites/samples/pppd/``.
    This test primarily serves as the baseline for a user application
    using the PPP protocol.

*Unlimited Object Allocation*
    The ``${RTEMS_ROOT}/testsuites/samples/unlimited/``
    directory contains a sample test that demonstrates the use of the*unlimited* object allocation configuration option to RTEMS.

The sample tests are written using the Classic API so the reader
should be familiar with the terms used and
material presented in the *RTEMS Applications Users Guide*.

Hello World
===========

This sample application is in the following directory:
.. code:: c

    ${RTEMS_ROOT}/testsuites/samples/hello/

It provides a rudimentary test of the BSP start up
code and the console output routine.  The C version of this
sample application uses the printf function from the RTEMS
Standard C Library to output messages.   The Ada version of this
sample uses the TEXT_IO package to output the hello messages.
The following messages are printed:
.. code:: c

    *** HELLO WORLD TEST \***
    Hello World
    \*** END OF HELLO WORLD TEST \***

These messages are printed from the application’s
single initialization task.  If the above messages are not
printed correctly, then either the BSP start up code or the
console output routine is not operating properly.

Clock Tick
==========

This sample application is in the following directory:
.. code:: c

    ${RTEMS_ROOT}/testsuites/samples/ticker/

This application is designed as a simple test of the
clock tick device driver.  In addition, this application also
tests the printf function from the RTEMS Standard C Library by
using it to output the following messages:
.. code:: c

    *** CLOCK TICK TEST \***
    TA1 - tm_get - 09:00:00   12/31/1988
    TA2 - tm_get - 09:00:00   12/31/1988
    TA3 - tm_get - 09:00:00   12/31/1988
    TA1 - tm_get - 09:00:05   12/31/1988
    TA1 - tm_get - 09:00:10   12/31/1988
    TA2 - tm_get - 09:00:10   12/31/1988
    TA1 - tm_get - 09:00:15   12/31/1988
    TA3 - tm_get - 09:00:15   12/31/1988
    TA1 - tm_get - 09:00:20   12/31/1988
    TA2 - tm_get - 09:00:20   12/31/1988
    TA1 - tm_get - 09:00:25   12/31/1988
    TA1 - tm_get - 09:00:30   12/31/1988
    TA2 - tm_get - 09:00:30   12/31/1988
    TA3 - tm_get - 09:00:30   12/31/1988
    \*** END OF CLOCK TICK TEST \***

The clock tick sample application utilizes a single
initialization task and three copies of the single application
task.  The initialization task prints the test herald, sets the
time and date, and creates and starts the three application
tasks before deleting itself.  The three application tasks
generate the rest of the output.  Every five seconds, one or
more of the tasks will print the current time obtained via the
tm_get directive.  The first task, TA1, executes every five
seconds, the second task, TA2, every ten seconds, and the third
task, TA3, every fifteen seconds. If the time printed does not
match the above output, then the clock device driver is not
operating properly.

Base Single Processor Application
=================================

This sample application is in the following directory:
.. code:: c

    ${RTEMS_ROOT}/testsuites/samples/base_sp/

It provides a framework from which a single processor
RTEMS application can be developed. The use of the task argument
is illustrated.  This sample application uses the printf
function from the RTEMS Standard C Library or TEXT_IO functions
when using the Ada version to output the following messages:
.. code:: c

    *** SAMPLE SINGLE PROCESSOR APPLICATION \***
    Creating and starting an application task
    Application task was invoked with argument (0) and has id of 0x10002
    \*** END OF SAMPLE SINGLE PROCESSOR APPLICATION \***

The first two messages are printed from the
application’s single initialization task.  The final messages
are printed from the single application task.

Base Multiple Processor Application
===================================

This sample application is in the following directory:
.. code:: c

    ${RTEMS_ROOT}/testsuites/samples/base_mp/

It provides a framework from which a multiprocessor
RTEMS application can be developed. This directory has a
subdirectory for each node in the multiprocessor system.  The
task argument is used to distinguish the node on which the
application task is executed.  The first node will print the
following messages:
.. code:: c

    *** SAMPLE MULTIPROCESSOR APPLICATION \***
    Creating and starting an application task
    This task was invoked with the node argument (1)
    This task has the id of 0x10002
    \*** END OF SAMPLE MULTIPROCESSOR APPLICATION \***

The second node will print the following messages:
.. code:: c

    *** SAMPLE MULTIPROCESSOR APPLICATION \***
    Creating and starting an application task
    This task was invoked with the node argument (2)
    This task has the id of 0x20002
    \*** END OF SAMPLE MULTIPROCESSOR APPLICATION \***

The herald is printed from the application’s single
initialization task on each node.  The final messages are
printed from the single application task on each node.

In this sample application, all source code is shared
between the nodes except for the node dependent configuration
files.  These files contains the definition of the node number
used in the initialization of the  RTEMS Multiprocessor
Configuration Table. This file is not shared because the node
number field in the RTEMS Multiprocessor Configuration Table
must be unique on each node.

Constructor/Destructor C++ Application
======================================

This sample application is in the following directory:
.. code:: c

    ${RTEMS_ROOT}/testsuites/samples/cdtest/

This sample application demonstrates that RTEMS is
compatible with C++ applications.  It uses constructors,
destructor, and I/O stream output in testing these various
capabilities.  The board support package responsible for this
application must support a C++ environment.

This sample application uses the printf function from
the RTEMS Standard C Library to output the following messages:
.. code:: c

    Hey I'M in base class constructor number 1 for 0x400010cc.
    Hey I'M in base class constructor number 2 for 0x400010d4.
    Hey I'M in derived class constructor number 3 for 0x400010d4.
    \*** CONSTRUCTOR/DESTRUCTOR TEST \***
    Hey I'M in base class constructor number 4 for 0x4009ee08.
    Hey I'M in base class constructor number 5 for 0x4009ee10.
    Hey I'M in base class constructor number 6 for 0x4009ee18.
    Hey I'M in base class constructor number 7 for 0x4009ee20.
    Hey I'M in derived class constructor number 8 for 0x4009ee20.
    Testing a C++ I/O stream
    Hey I'M in derived class constructor number 8 for 0x4009ee20.
    Derived class - Instantiation order 8
    Hey I'M in base class constructor number 7 for 0x4009ee20.
    Instantiation order 8
    Hey I'M in base class constructor number 6 for 0x4009ee18.
    Instantiation order 6
    Hey I'M in base class constructor number 5 for 0x4009ee10.
    Instantiation order 5
    Hey I'M in base class constructor number 4 for 0x4009ee08.
    Instantiation order 5
    \*** END OF CONSTRUCTOR/DESTRUCTOR TEST \***
    Hey I'M in base class constructor number 3 for 0x400010d4.
    Hey I'M in base class constructor number 2 for 0x400010d4.
    Hey I'M in base class constructor number 1 for 0x400010cc.

Minimum Size Test
=================

This sample application is in the following directory:
.. code:: c

    ${RTEMS_ROOT}/testsuites/samples/minimum/

This sample application is designed to produce the
minimum code space required for any RTEMS application
based upon the current RTEMS configuration and
BSP.  In many situations, the bulk of this executable
consists of hardware and RTEMS initialization, basic
infrastructure such as malloc(), and RTEMS and
hardware shutdown support.

Nanosecond Granularity Application
==================================

This sample application is in the following directory:
.. code:: c

    ${RTEMS_ROOT}/testsuites/samples/nsecs/

This sample application exercises the Clock Driver
for this BSP and demonstrates its ability to generate
accurate timestamps.  This application does this by
exercising the time subsystem in three ways:

- Obtain Time of Day Twice Back to Back

- Obtain System Up Time Twice Back to Back

- Use System Up Time to Measure Loops

The following is an example of what the output of this
test may appear like:
.. code:: c

    *** NANOSECOND CLOCK TEST \***
    10 iterations of getting TOD
    Start: Sat Mar 24 11:15:00 2007:540000
    Stop : Sat Mar 24 11:15:00 2007:549000 --> 0:9000
    Start: Sat Mar 24 11:15:00 2007:3974000
    Stop : Sat Mar 24 11:15:00 2007:3983000 --> 0:9000
    Start: Sat Mar 24 11:15:00 2007:7510000
    Stop : Sat Mar 24 11:15:00 2007:7519000 --> 0:9000
    Start: Sat Mar 24 11:15:00 2007:11054000
    Stop : Sat Mar 24 11:15:00 2007:11063000 --> 0:9000
    Start: Sat Mar 24 11:15:00 2007:14638000
    Stop : Sat Mar 24 11:15:00 2007:14647000 --> 0:9000
    Start: Sat Mar 24 11:15:00 2007:18301000
    Stop : Sat Mar 24 11:15:00 2007:18310000 --> 0:9000
    Start: Sat Mar 24 11:15:00 2007:21901000
    Stop : Sat Mar 24 11:15:00 2007:21910000 --> 0:9000
    Start: Sat Mar 24 11:15:00 2007:25526000
    Stop : Sat Mar 24 11:15:00 2007:25535000 --> 0:9000
    Start: Sat Mar 24 11:15:00 2007:29196000
    Stop : Sat Mar 24 11:15:00 2007:29206000 --> 0:10000
    Start: Sat Mar 24 11:15:00 2007:32826000
    Stop : Sat Mar 24 11:15:00 2007:32835000 --> 0:9000
    10 iterations of getting Uptime
    0:38977000 0:38986000 --> 0:9000
    0:40324000 0:40332000 --> 0:8000
    0:41636000 0:41645000 --> 0:9000
    0:42949000 0:42958000 --> 0:9000
    0:44295000 0:44304000 --> 0:9000
    0:45608000 0:45617000 --> 0:9000
    0:46921000 0:46930000 --> 0:9000
    0:48282000 0:48291000 --> 0:9000
    0:49595000 0:49603000 --> 0:8000
    0:50908000 0:50917000 --> 0:9000
    10 iterations of getting Uptime with different loop values
    loop of 10000 0:119488000 0:119704000 --> 0:216000
    loop of 20000 0:124028000 0:124463000 --> 0:435000
    loop of 30000 0:128567000 0:129220000 --> 0:653000
    loop of 40000 0:133097000 0:133964000 --> 0:867000
    loop of 50000 0:137643000 0:138728000 --> 0:1085000
    loop of 60000 0:142265000 0:143572000 --> 0:1307000
    loop of 70000 0:146894000 0:148416000 --> 0:1522000
    loop of 80000 0:151519000 0:153260000 --> 0:1741000
    loop of 90000 0:156145000 0:158099000 --> 0:1954000
    loop of 100000 0:160770000 0:162942000 --> 0:2172000
    \*** END OF NANOSECOND CLOCK TEST \***

Paranoia Floating Point Application
===================================

This sample application is in the following directory:
.. code:: c

    ${RTEMS_ROOT}/testsuites/samples/paranoia/

This sample application uses a public domain floating
point and math library test to verify these capabilities of the
RTEMS executive.  Deviations between actual and expected results
are reported to the screen.  This is a very extensive test which
tests all mathematical and number conversion functions.
Paranoia is also very large and requires a long period of time
to run.   Problems which commonly prevent this test from
executing to completion include stack overflow and FPU exception
handlers not installed.

Network Loopback Test
=====================

This sample application is in the following directory:
.. code:: c

    ${RTEMS_ROOT}/testsuites/samples/loopback/

This sample application uses the network loopback device to
demonstrate the use of the RTEMS TCP/IP stack.  This sample
test illustrates the basic configuration and initialization
of the TCP/IP stack as well as simple socket usage.

.. COMMENT: COPYRIGHT (c) 1989-2007.

.. COMMENT: On-Line Applications Research Corporation (OAR).

.. COMMENT: All rights reserved.

.. _RTEMS-Specific-Utilities:

RTEMS Specific Utilities
########################

This section describes the additional commands
available within the *RTEMS Development Environment*.  Although
some of these commands are of general use, most are included to
provide some capability necessary to perform a required function
in the development of the RTEMS executive, one of its support
components, or an RTEMS based application.

Some of the commands are implemented as C programs.
However, most commands are implemented as Bourne shell scripts.
Even if the current user has selected a different shell, the
scripts will automatically invoke the Bourne shell during their
execution lifetime.

The commands are presented in UNIX manual page style
for compatibility and convenience.  A standard set of paragraph
headers were used for all of the command descriptions.  If a
section contained no data, the paragraph header was omitted to
conserve space.  Each of the permissible paragraph headers and
their contents are described below:

``SYNOPSIS``
    describes the command syntax

``DESCRIPTION``
    a full description of the command

``OPTIONS``
    describes each of the permissible options for the command

``NOTES``
    lists any special noteworthy comments about the command

``ENVIRONMENT``
    describes all environment variables utilized by the command

``EXAMPLES``
    illustrates the use of the command with specific examples

``FILES``
    provides a list of major files that the command references

``SEE ALSO``
    lists any relevant commands which can be consulted

Most environment variables referenced by the commands
are defined for the RTEMS Development Environment during the
login procedure.  During login, the user selects a default RTEMS
environment through the use of the Modules package.  This tool
effectively sets the environment variables to provide a
consistent development environment for a specific user.
Additional environment variables within the RTEMS environment
were set by the system administrator during installation.  When
specifying paths, a command description makes use of these
environment variables.

When referencing other commands in the SEE ALSO
paragraph, the following notation is used:   command(code).
Where command is the name of a related command, and code is a
section number.  Valid section numbers are as follows:

``1``
    Section 1 of the standard UNIX documentation

``1G``
    Section 1 of the GNU documentation

``1R``
    a manual page from this document, the RTEMS Development Environment Guide

For example, ls(1) means see the standard ls command
in section 1 of the UNIX documentation.  gcc020(1G) means see
the description of gcc020 in section 1 of the GNU documentation.

.. COMMENT: packhex

packhex - Compress Hexadecimal File
===================================

**SYNOPSIS**

.. code:: c

    packhex <source >destination

**DESCRIPTION**

packhex accepts Intel Hexadecimal or Motorola Srecord
on its standard input and attempts to pack as many contiguous
bytes as possible into a single hexadecimal record.  Many
programs output hexadecimal records which are less than 80 bytes
long (for human viewing).  The overhead required by each
unnecessary record is significant and packhex can often reduce
the size of the download image by 20%.  packhex attempts to
output records which are as long as the hexadecimal format
allows.

**OPTIONS**

This command has no options.

**EXAMPLES**

Assume the current directory contains the Motorola
Srecord file download.sr. Then executing the command:
.. code:: c

    packhex <download.sr >packed.sr

will generate the file packed.sr which is usually
smaller than download.sr.

**CREDITS**

The source for packhex first appeared in the May 1993
issue of Embedded Systems magazine.  The code was downloaded
from their BBS.  Unfortunately, the author’s name was not
provided in the listing.

.. COMMENT: unhex

unhex - Convert Hexadecimal File into Binary Equivalent
=======================================================

**SYNOPSIS**

.. code:: c

    unhex \[-valF] \[-o file] \[file \[file ...] ]

**DESCRIPTION**

unhex accepts Intel Hexadecimal, Motorola Srecord, or
TI ’B’ records and converts them to their binary equivalent.
The output may sent to standout or may be placed in a specified
file with the -o option.  The designated output file may not be
an input file.  Multiple input files may be specified with their
outputs logically concatenated into the output file.

**OPTIONS**

This command has the following options:

``v``
    Verbose

``a base``
    First byte of output corresponds with base
    address

``l``
    Linear Output

``o file``
    Output File

``F k_bits``
    Fill holes in input with 0xFFs up to k_bits * 1024 bits

**EXAMPLES**

The following command will create a binary equivalent
file for the two Motorola S record files in the specified output
file binary.bin:
.. code:: c

    unhex -o binary.bin downloadA.sr downloadB.sr

Command and Variable Index
##########################

There are currently no Command and Variable Index entries.

.. COMMENT: @printindex fn

Concept Index
#############

There are currently no Concept Index entries.

.. COMMENT: @printindex cp