RTEMS USB support for BBB document

RTEMS-libbsd USB Support For BBB


How to build RSB

Create new folder

sandbox="$PWD/sandbox"
mkdir sandbox
cd "$sandbox"

Get RSB source code


git clone git://git.rtems.org/rtems-source-builder.git

Check the environment

cd "$sandbox"


cd rtems-source-builder/source-builder


./sb-check



Configure and build RSB


cd ../rtems

../source-builder/sb-set-builder --prefix="$sandbox/rtems-4.12" 4.12/rtems-arm



How to build RTEMS

Get RTEMS source code

git clone git://git.rtems.org/rtems.git

Configure and build RTEMS for BBB BSP




cd "$sandbox"
cd rtems
PATH="$sandbox/rtems-4.12/bin:$PATH" ./bootstrap; ./bootstrap -p






cd "$sandbox"


mkdir BBB_install


cd BBB_install


PATH="$sandbox/rtems-4.12/bin:$PATH" "$sandbox/rtems/configure" \
  --target=arm-rtems4.12 --prefix="$sandbox/rtems-4.12" \
  --disable-networking --enable-rtemsbsp=beagleboneblack


PATH="$sandbox/rtems-4.12/bin:$PATH" make
PATH="$sandbox/rtems-4.12/bin:$PATH" make install

























How to build RTEMS-libbsd



Get RTEMS-libbsd source code




git clone git://git.rtems.org/rtems-libbsd.git





Update FreeBSD submodule




cd "$sandbox"
cd rtems-libbsd




git submodule update





Configure and bulid libbsd for BBB BSP




git submodule init
git submodule update rtems_waf


waf configure --prefix="$sandbox/rtems-4.12" --rtems-bsps=arm/beagleboneblack


waf


waf install













How to Add USB support on Beaglebone Black



Import am335x musb driver file from FreeBSD



The musb driver files we need is show as below:



am335x_musb.c



am335x_prcm.c



am335x_usbss.c



ti_prcm.c



ti_scm.c



musb_otg.c



am335x_scm.h



ti_cpuid.h



ti_prcm.h



ti_scm.h



tivar.h



musb_otg.h







So we need import these file from FreeBSD-org







Add following code in libbsd.py







#
# BBB USB
#
def dev_usb_controller_bbb(mm):
    mod = builder.Module('dev_usb_controller_bbb')
    mod.addDependency(mm['dev_usb'])
    mod.addKernelSpaceHeaderFiles(
        [
            'sys/arm/ti/ti_cpuid.h',
            'sys/arm/ti/ti_prcm.h',
            'sys/arm/ti/ti_scm.h',
            'sys/arm/ti/tivar.h',
            'sys/arm/ti/am335x/am335x_scm.h',
            'sys/dev/usb/controller/musb_otg.h',
        ]
    )
    mod.addKernelSpaceSourceFiles(
        [
            'sys/arm/ti/ti_scm.c',
            'sys/arm/ti/am335x/am335x_prcm.c',
            'sys/arm/ti/am335x/am335x_usbss.c',
            'sys/arm/ti/ti_prcm.c',
            'sys/arm/ti/am335x/am335x_musb.c',
            'sys/dev/usb/controller/musb_otg.c',
        ],
        mm.generator['source']()
    )
    return mod



Add following code in sources(mm) part of libbsd.py







mm.addModule(dev_usb_controller_bbb(mm))











These code add an module in libbsd. Then using freebsd-to-rtems.py script to import files







./freebsd-to-rtems.py -R && ./freebsd-to-rtemsd.py





Port am335x musb driver file to libbsd





We need modify some files to adapt to libbsd







1.am335x_prcm.c







#ifndef __rtems__
#include <sys/timeet.h>
#endif /* __rtems__ */
#include <sys/timetc.h>
#ifndef __rtems__
#include <sys/watchdog.h>
#endif /* __rtems__ */
#include <machine/bus.h>
#include <machine/cpu.h>
#ifndef __rtems__
#include <machine/intr.h>
#endif /* __rtems__ */















am335x_prcm_sc = sc;
#ifndef __rtems__
ti_cpu_reset = am335x_prcm_reset;
#endif /* __rtems__ */

if (am335x_clk_get_sysclk_freq(NULL, &sysclk) != 0)











2.ti_cpuid.h







#ifdef __rtems__
#include <bsp.h>
#endif /* __rtems__ */







#define CHIP_OMAP_4 0
#define CHIP_AM335X 1

#ifdef __rtems__
#ifdef IS_AM335X
#define SOC_TI_AM335X
#else
#warning Unknown SOC.
#endif

#if defined(SOC_TI_AM335X)
#define _ti_chip CHIP_AM335X
#elif defined(SOC_OMAP4)
#define _ti_chip CHIP_OMAP_4
#else
#define _ti_chip -1
#endif
#else /* __rtems__ */
extern int _ti_chip;
#endif /* __rtems__ */











3.ti_prcm.c







#include <machine/bus.h>
#include <machine/resource.h>
#ifndef __rtems__
#include <machine/intr.h>
#endif /* __rtems__ */

#include <arm/ti/ti_cpuid.h>
#include <arm/ti/ti_prcm.h>











4.ti_scm.c







#include <dev/ofw/openfirm.h>
#include <dev/ofw/ofw_bus.h>
#include <dev/ofw/ofw_bus_subr.h>
#ifndef __rtems__
#include <dev/fdt/fdt_pinctrl.h>
#endif /* __rtems__ */





Add FDT support for am335x USB driver in RTEMS





RTEMS need get device information from U-Boot via FDT. So we need add FDT support on RTEMS for BBB BSP. The following files need to be modified







1.beagle/configure.ac







RTEMS_BSPOPTS_SET([BSP_START_COPY_FDT_FROM_U_BOOT],[beaglebone*],[1])
RTEMS_BSPOPTS_HELP([BSP_START_COPY_FDT_FROM_U_BOOT],[enables U-Boot support using FDT])







RTEMS_BSPOPTS_SET([BSP_FDT_BLOB_SIZE_MAX],[beaglebone*],[262144])
RTEMS_BSPOPTS_HELP([BSP_FDT_BLOB_SIZE_MAX],[maximum size of the FDT blob in bytes])

RTEMS_BSPOPTS_SET([BSP_FDT_BLOB_READ_ONLY],[beaglebone*],[1])
RTEMS_BSPOPTS_HELP([BSP_FDT_BLOB_READ_ONLY],[place the FDT blob into the read-only data area]







2.beagle/include/bsp.h







#if BSP_START_COPY_FDT_FROM_U_BOOT
#define BSP_FDT_IS_SUPPORTED
#endif







3.beagle/startup/bspstart.c







uint32_t bsp_fdt_map_intr(uint32_t intr)
{
  return intr;



}







4.arm/shared/start/start.S







#ifdef BSP_START_COPY_FDT_FROM_U_BOOT



mov r0, r6
bl bsp_fdt_copy



#endif





Add FDT support for am335x USB driver in RTEMS-libbsd





We need add FDT support to get device information from U-Boot via FDT. So We need modify nexus-devices.h







nexus-devices.h







#elif defined(LIBBSP_ARM_BEAGLE_BSP_H)

#include <bsp/irq.h>

RTEMS_BSD_DEFINE_NEXUS_DEVICE(ofwbus, 0, 0, NULL);
SYSINIT_DRIVER_REFERENCE(simplebus, ofwbus);
SYSINIT_DRIVER_REFERENCE(ti_scm, simplebus);
SYSINIT_DRIVER_REFERENCE(am335x_prcm, simplebus);
SYSINIT_DRIVER_REFERENCE(usbss, simplebus);
SYSINIT_DRIVER_REFERENCE(musbotg, usbss);

RTEMS_BSD_DRIVER_USB;

#elif defined(LIBBSP_ARM_LPC32XX_BSP_H)

















How to add USB mass support



We need add umass code to support USB storage device such as USB disks. the umass.c is already ported to libbsd. So we need add the device reference in nexus-devices.h







nexus-devices.h







RTEMS_BSD_DRIVER_USB;



RTEMS_BSD_DRIVER_USB_MASS;



















Compiling and Testing





Compile the RTEMS modified code via the following ccommand








cd "$sandbox"
cd rtems
PATH="$sandbox/rtems-4.12/bin:$PATH" ./bootstrap; ./bootstrap -p


PATH="$sandbox/rtems-4.12/bin:$PATH" make
PATH="$sandbox/rtems-4.12/bin:$PATH" make install











Compile the libbsd modified code via "waf". Then using "waf install"



The generated media01.exe which in the build folder can be used to testing.



We can test the USB via USB disk, USB hub, USB keyboard and USB dongle, etc.






































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RTEMS Network Transplantation - rtems system initialization process analysis




















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Work Product Submission




















图片







 Beagleboard BSP projects - GSoC 2017    About RTEMS        RTEMS is a open source embedded hard real-time operating system, It good at real-time, stability, development speed and multi-processor support. Now RTEMS is already working on Beaglebone Black, As so far, the ADC, PWM, GPIO is supported on BBB, But the BSP support is not enough.   RTEMS official website:  https://www.rtems.org/    Team and mentors  Sichen Zhao - Developer  Christian Mauderer  - Mentor  Punit Vara - Mentor     The project - Beagleboard BSP projects: Improvement of I2C, USB and wireless BSP for Beaglebone Black  Project Proposal: GSoC 2017-Beagleboard BSP projects   Project Ticket:   Beagleboard BSP projects   Project wiki:  GSoC 2017-Beagleboard BSP projects   Project final code repository: GSoC2017 final code      Goal:  This project aims to improve the Beaglebone Black  BSP support on RTEMS. Project intends to add the following supports to the Beaglebone Black BSP: I2C support, USB device support, Wireless n








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