84 lines
3.3 KiB
Markdown
84 lines
3.3 KiB
Markdown
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# FreeRTOS POSIX Port
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FreeRTOS is a supported platform for Eclipse Cyclone DDS. This document
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explains how to build and run Eclipse Cyclone DDS on the FreeRTOS POSIX Port.
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For basic information, see: [freertos.md](/docs/dev/freertos.md).
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As the steps for building and running on the FreeRTOS POSIX Port are largely
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the same as building and running on an actual embedded target, this document
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should provide an excellent starting point for users. Apart from that, the
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simulator can be used to verify commits do not break FreeRTOS compatibility.
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> lwIP can also be used in combination with both UNIX and Windows targets, but
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> the simulator does not yet have integration. Once integration between both
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> is figured out, this document should be updated accordingly.
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## Build and install the simulator
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The FreeRTOS POSIX Port is not maintained by the FreeRTOS project. Various
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projects are maintained across the internet. At the time of writing, the
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version maintained by [Shilin][1] seemed the best as the version maintained by
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[megakilo][2] was archived.
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[1]: https://github.com/shlinym/FreeRTOS-Sim.git
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[2]: https://github.com/megakilo/FreeRTOS-Sim
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> A [FreeRTOS Linux Port][3] is in the works. Once it becomes stable, please
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> update this document accordingly.
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[3]: https://sourceforge.net/p/freertos/discussion/382005/thread/f28af711/
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1. Clone the repository. The `CMakeLists.txt` in this directory assumes the
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sources are available `./FreeRTOS-Sim` by default, but a different location
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can be specified using the CMake option `FREERTOS_SOURCE_DIR`.
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```
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git clone https://github.com/shlinym/FreeRTOS-Sim.git
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```
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2. Specify an installation prefix and build the simulator like any other
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CMake project.
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```
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mkdir build
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cd build
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cmake -DCMAKE_INSTALL_PREFIX=$(pwd)/install ..
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cmake --build . --target install
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```
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> A CMake toolchain file is generated and installed into a `share` directory
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> located under CMAKE\_INSTALL\_PREFIX/FreeRTOS-Sim. The compiler that CMake
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> discovers and uses to build the simulator is exported in the toolchain file
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> and will also be used to build Eclipse Cyclone DDS in the following steps.
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## Build Eclipse Cyclone DDS for the simulator
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1. Change to the root of the repository and install the dependencies.
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```
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mkdir build
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cd build
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conan install -s arch=x86 ..
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```
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> For actual cross-compilation environments the instructions above will not
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> install the correct packages. Even when e.g. Clang instead of GCC was used
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> to build the simulator, the mismatch between Conan and CMake will break the
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> build. To install the correct packages for the target, specify the required
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> settings e.g. when the simulator was built using Clang 7.0, use
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> `conan install -s arch=x86 -s compiler=clang -s compiler.version=7.0 ..`.
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> If packages are not yet available for the target, as is usually the case
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> with actual embedded targets, export the path to the toolchain file in the
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> `CONAN_CMAKE_TOOLCHAIN_FILE` environment variable and add the `-b` flag to
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> build the packages.
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2. Build Eclipse Cyclone DDS.
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```
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$ cmake -DCMAKE_TOOLCHAIN_FILE=/path/to/toolchain/file -DWITH_FREERTOS=on ../src
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```
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> Examples (and tests) can be executed like usual. The simulator provides a
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> *loader* that initializes the hardware (not used on non-embedded targets),
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> starts the scheduler and loads the application.
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