Construction of Cortex-M development environment for TOPPERS using Raspberry Pi
Introduction
Previously an article on building a ** TOPPERS / ASP ** development environment using WindowsPC + VirtualBox + Linux "** TOPPERS / ASP Build and run ** "," ** TOPPERS / ASP (2020-03-10 version) Build and run ** ". With this method, it is necessary to install VirtualBox on a Windows PC, and installation of arbitrary applications is restricted on company-supplied PCs, etc. Since Linux runs on VirtualBox, there is a problem that the load on the Windows PC such as CPU power, memory, and HDD capacity increases. For this reason, we plan to build a development environment for TOPPERS / ASP Cortex-M on Raspberry Pi, which is thought to have a large number of users and owners, so that development can be performed without imposing a load on the Windows PC, and use it for development. I did. In addition, the Raspberry Pi is a very small microcomputer board that is easy to carry and install, and because it uses a micro SD card as a boot and operation disk, it is easy to lend and borrow the environment and copy it, so it is used by many people. I wondered if I could get it.
Building a Linux environment
Linux installation
Linux for Raspberry Pi has multiple SD card images published on the Internet, but the new version of ARM's cross-toolchain, which will be explained later, is only available for 64-bit environments ** for ARM64 ** I decided to use ** Ubuntu 20.04.1 LTS **. (Latest version as of September 30, 2020) For this reason, the Raspberry Pi used requires Raspberry Pi 3, Raspberry Pi 3+, and Raspberry Pi 4.
Download the SD card image from "Ubuntu 20.04.1 LTS" "Download 64-bit" on the download page below. Since you can download the xz format file, write the image file created by expanding it to the micro SD card using image writing software.
** 64bit Ubuntu 20.04.1 LTS for Raspberry Pi ** https://ubuntu.com/download/raspberry-pi https://ubuntu.com/download/raspberry-pi/thank-you?version=20.04.1&architecture=arm64+raspi
network settings
In ** ubuntu 20.04 **, you can get the IP address of eth0 of the wired LAN by DHCP. You can communicate on the network by connecting the LAN cable in the network environment where the DHCP server is operating. Also, by adding a configuration file under ** / etc / netplan ** and defining the IP address etc., it is possible to operate with a fixed IP address. Below is the configuration file I use in my home environment.
/etc/netplan/99_config.yaml
network:
version: 2
renderer: networkd
ethernets:
eth0:
dhcp4: false
dhcp6: false
addresses: [192.168.0.140/24]
gateway4: 192.168.0.1
nameservers:
addresses: [192.168.0.1, 8.8.8.8, 8.8.4.4]
Installation of additional middleware
Once you are able to communicate over the network, use the "** apt-get install " command to download and install the following additional middleware from the Internet. Before "apt-get install", please update the download information to the latest information with the " apt-get update **" command.
net-tools
g++
libboost-all-dev
libxerces-c-dev
make
minicom
samba
Building a cross toolchain
Download a toolchain such as a cross-compiler from the ** GNU Arm Embedded Toolchain Downloads ** page and unpack it on your Raspberry Pi. This time, I used the toolchain for ** GCC10 , but there is no problem if you download and use the stable version " 9-2020-q2-update June 30, 2020 **". Download ** Linux AArch64 Tarball **.
GNU Arm Embedded Toolchain: 10-2020-q2-preview June 29, 2020 gcc-arm-none-eabi-10-2020-q2-preview-aarch64-linux.tar.bz2 https://developer.arm.com/-/media/Files/downloads/gnu-rm/10-2020q2/gcc-arm-none-eabi-10-2020-q2-preview-aarch64-linux.tar.bz2?revision=a7134e5c-fad8-490c-a62b-9200acca15ef&la=en&hash=12954B763712885C1DDE3318D10DF96B1606463A
After downloading the tar.bz2 format file, extract it to the installation directory specified by "-C" with the tar command. The following is an example of the command to be expanded under ** / home / ubuntu / bin **.
mkdir ~/bin
tar xjf gcc-arm-none-eabi-10-2020-q2-preview-aarch64-linux.tar.bz2 -C ~/bin
To use the toolchain expanded this time, set the path of the executable file in the environment variable PATH before building TOPPERS / ASP. In my home environment, I added the following definition to "~ / .bashrc" so that it can be used anytime after logging in.
export PATH=~/bin/gcc-arm-none-eabi-10-2020-q2-preview/bin:$PATH
Configurator change / build
Build the configurator using Configurator Release 1.9.6 to enable the TOPPERS / ASP kernel build. However, due to the following notes on the configurator page, it was not possible to build as downloaded.
Due to a current problem with the boost library for 64-bit Linux
Cfg built on 64-bit Linux does not work properly.
When using cfg on 64bit Linux, for 32bit Linux below
Use binaries or build from source on 32bit Linux
Use statically linked binaries.
In the article I wrote earlier, I built a development environment using 32-bit Linux to avoid this problem. This time, we have included a fix to avoid this problem.
Configurator Release 1.9.6 https://www.toppers.jp/download.cgi/cfg-1.9.6.tar.gz
First, download the following files from the configurator page and place them in any directory. In the following explanation, command input etc. will be described assuming that it is placed in the following directory.
/home/ubuntu/toppers
● Source deployment Extract the downloaded tar.gz file. Extracting with the following command will generate a cfg directory, and the source files etc. will be expanded under it.
tar zxf cfg-1.9.6.tar.gz
● Source deployment Change to the cfg directory.
cd cfg
● Addition of header file for libboost When building the configurator, it stops with an error due to insufficient include of the header file, so add the include definition to the toppers / text.hpp file and toppers / cpp.hpp file as follows.
toppers/text.hpp
54 #include "toppers/text_line.hpp"
55 #include "toppers/misc.hpp"
56 #include <boost/next_prior.hpp> /*※ add to*/
57 #include <boost/utility.hpp>
58 #include <boost/iterator/iterator_facade.hpp>
toppers/cpp.hpp
44 #include "toppers/codeset.hpp"
45 #include "toppers/diagnostics.hpp"
46 #include <boost/next_prior.hpp> /*※ add to*/
47 #include <boost/utility.hpp>
48 #include <boost/filesystem/path.hpp>
● Configuration execution Make pre-build environment settings for the configurator. However, since the configure script immediately after expansion contains "0x0d" in the line feed code, an error will occur as it is. Therefore, use the following command to delete unnecessary code.
mv configure configure.org
tr -d '\r' < configure.org > configure
chmod u+x configure
After correction, execute the configuration with the following command.
./configure --with-libraries=/usr/lib/aarch64-linux-gnu
After successful execution of the configure script, build the configurator with the following command. It takes less than 20 minutes on Raspberry Pi 3.
make OPTIONS=-std=c++11
If the cfg / cfg command is completed, it is successful.
cfg/cfg -v
TOPPERS Kernel Configurator version 1.9.6
ASP kernel change / configuration race
TOPPERS / ASP kernel target independent part package ** asp-1.9.3.tar.gz ** and ARM Cortex-M4 architecture / GCC dependent part package ** asp_arch_arm_m4_gcc-1.9.6.tar.gz ** ** / Download to the home / ubuntu / toppers ** directory and build the ASP kernel.
● Source deployment Extract the downloaded tar.gz file. If you expand it with the following command, the asp directory will be created and the source files etc. will be expanded under it.
cd /home/ubuntu/toppers
tar xzf asp-1.9.3.tar.gz
tar xzf asp_arch_arm_m4_gcc-1.9.6.tar.gz
● Copy of configurator Asp copies the build and created configurator to: You can create and copy the required directories with the following command.
mkdir -p asp/cfg/cfg
cp cfg/cfg/cfg asp/cfg/cfg
Execute the following command, and when the version information is output, the copy is successful.
asp/cfg/cfg/cfg -v
TOPPERS Kernel Configurator version 1.9.6
● Avoiding configuration errors In the deployed ASP kernel, "** PROVIDE () **" used in the linker script used at kernel build in GNU Arm Embedded Toolchain GCC7 or later does not work as intended and is always described as "" ** hardware_init_hook = 0 ** "is enabled and the hardware_init_hook function address ** always generates a binary at address 0x0 **. This will cause the ASP kernel to jump to address 0x0 when run on the board and ** repeat the reset **. So comment out the code for hardware_init_hook as follows: The following is a modification of the linker script for stm32f401nucleo_gcc.
asp/target/stm32f401nucleo_gcc/stm32f4xx_rom.ld
10 PROVIDE(hardware_init_hook = 0);
11 PROVIDE(software_init_hook = 0);
12 PROVIDE(software_term_hook = 0);
13 STARTUP(start.o)
↓
10 /* PROVIDE(hardware_init_hook = 0); */
11 PROVIDE(software_init_hook = 0);
12 PROVIDE(software_term_hook = 0);
13 STARTUP(start.o)
- In this application construction method, ** software_init_hook ** and ** software_term_hook ** can be addressed at ** 0x0 **.
In addition, since an error will occur in the generation of cfg1_out during build as it is, add the alternative processing of "PROVIDE (hardware_init_hook = 0)" to start.S. Add the following processing to the end line of start.S as shown below.
asp/arch/arm_m_gcc/common/start.S
.weak hardware_init_hook
bx lr
● ASP kernel configuration Sean Configure the ASP kernel in the directory where you build your application. This time, target the STM32F401 Nucleo-64 board and build the application build environment in the / home / ubuntu / toppers / f401 / obj directory. Create the f401 / obj directory with the following command.
cd /home/ubuntu/toppers
mkdir -p f401/obj
Use the following command to change to the f401 / obj directory and execute the configuration.
cd f401/obj
../../asp/configure -T stm32f401nucleo_gcc -dROM
It is successful when the following files are generated.
-rw-rw-r-- 1 ubuntu ubuntu 15335 Aug 30 18:22 Makefile
-rw-rw-r-- 1 ubuntu ubuntu 15652 Aug 30 18:22 sample1.c
-rw-rw-r-- 1 ubuntu ubuntu 918 Aug 30 18:22 sample1.cfg
-rw-rw-r-- 1 ubuntu ubuntu 3246 Aug 30 18:22 sample1.h
Build application
The Nucleo board can be seen as a disk drive by connecting it to your PC via USB, and you can write the program by copying the binary code generated by building to this directory. Add the .bin file generation description to the following part of the Makefile so that the binary code will be generated when building the application.
Makefile
327 $(OBJFILE): $(APPL_CFG) kernel_cfg.timestamp $(ALL_OBJS) $(LIBS_DEP)
328 $(LINK) $(CFLAGS) $(LDFLAGS) -o $(OBJFILE) $(START_OBJS) \
329 $(APPL_OBJS) $(SYSSVC_OBJS) $(CFG_OBJS) $(ALL_LIBS) $(END_OBJS)
330 $(NM) -n $(OBJFILE) > $(OBJNAME).syms
331 $(OBJCOPY) -O srec -S $(OBJFILE) $(OBJNAME).srec
332 $(CFG) --pass 3 --kernel asp $(INCLUDES) \
↓
327 $(OBJFILE): $(APPL_CFG) kernel_cfg.timestamp $(ALL_OBJS) $(LIBS_DEP)
328 $(LINK) $(CFLAGS) $(LDFLAGS) -o $(OBJFILE) $(START_OBJS) \
329 $(APPL_OBJS) $(SYSSVC_OBJS) $(CFG_OBJS) $(ALL_LIBS) $(END_OBJS)
330 $(NM) -n $(OBJFILE) > $(OBJNAME).syms
331 $(OBJCOPY) -O srec -S $(OBJFILE) $(OBJNAME).srec
**332 $(OBJCOPY) -O binary -S $(OBJFILE) $(OBJNAME).bin ← ★ added**
333 $(CFG) --pass 3 --kernel asp $(INCLUDES) \
After adding, you can build the application by running make in the f401 / obj directory.
cd f401/obj
make
If the following files are generated, the build is successful.
-rwxrwxr-x 1 ubuntu ubuntu 363656 Aug 30 18:35 asp*
-rwxrwxr-x 1 ubuntu ubuntu 28442 Aug 30 18:35 asp.bin*
-rwxrwxr-x 1 ubuntu ubuntu 85392 Aug 30 18:35 asp.srec*
-rw-rw-r-- 1 ubuntu ubuntu 8109 Aug 30 18:35 asp.syms
When you copy asp.bin to the STM32F401 Nucleo-64 board and execute the program, the following message is output to the virtual COM port of the STM32F401 Nucleo-64 board.
● Copy the asp.bin file on your Windows PC By installing and setting Samba on Raspberry Pi, you can write the asp.bin file on Raspberry Pi to STM32F401-Nucleo by dragging and dropping on Explorer of Windows PC.
Operational configuration
In development using Raspberry Pi, in addition to the method of rewriting the binary file generated on Raspberry Pi to the target board via Windows PC, it is also possible to operate the Raspberry Pi alone by connecting the monitor, keyboard and target board to Raspberry Pi. Since the STM32F401-Nucleo board can be accessed from Linux as / dev / ttyACM of the virtual COM port and / dev / sda1 of the mass storage via USB connection, the syslog () output after execution from writing to the target board is also operated by Raspberry Pi alone. can.
● Operational configuration via Windows PC
● Operational configuration of Raspberry Pi alone
at the end
If you have a Raspberry Pi 3, Raspberry Pi 3+, or Raspberry Pi 4, why not try building the environment and building the program by following the steps described here. There are many articles and information about using the Raspberry Pi itself as a board or controller for electronic work, but I think that you will understand that it can be sufficiently used as a development environment like this time.
- that's all -
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