基于beaglebone的rtems4.12源码编译生成image镜像并烧入sd卡

在上一篇博文中，讲述了如何通过编译好的toolchain编译rtems源码，接下来讲讲如何讲编译好的源码制作成image镜像文件，然后烧写到sd卡中。

编译好的源码是放在/image文件夹下，制作image文件在这里用到的是之前git到的rtems源码中的脚本工具sdcard.sh。是国外某个大神的杰作，文件放在

rtems-src/c/src/lib/libbsp/arm/beagle/simscripts

路径下

sdcard.sh脚本文件内容如下：

# we store all generated files here.
TMPDIR=tmp_sdcard_dir.$$

FATIMG=$TMPDIR/bbxm_boot_fat.img
SIZE=65536
OFFSET=2048
FATSIZE=`expr $SIZE - $OFFSET`
UENV=uEnv.txt

rm -rf $TMPDIR
mkdir -p $TMPDIR

if [ $# -ne 2 ]
then echo "Usage: $0 <RTEMS prefix> <RTEMS executable>"
exit 1
fi

PREFIX=$1

if [ ! -d "$PREFIX" ]
then echo "This script needs the RTEMS tools bindir as the first argument."
exit 1
fi

executable=$2

case "$2" in
*beagleboard*)
ubootcfg=omap3_beagle
imgtype=bb
;;
*beaglebone*)
ubootcfg=am335x_evm
imgtype=bone
;;
*)
echo "Can't guess which uboot to use - please specify full path to executable."
exit 1
;;
esac

app=rtems-app.img

if [ ! -f "$executable" ]
then echo "Expecting RTEMS executable as arg; $executable not found."
exit 1
fi

set -e

IMG=${imgtype}_`basename $2`-sdcard.img

# Make an empty image
dd if=/dev/zero of=$IMG bs=512 seek=`expr $SIZE - 1` count=1
dd if=/dev/zero of=$FATIMG bs=512 seek=`expr $FATSIZE - 1` count=1

# Make an ms-dos FS on it
$PREFIX/bin/newfs_msdos -r 1 -m 0xf8 -c 4 -F16 -h 64 -u 32 -S 512 -s $FATSIZE -o 0 ./$FATIMG

# Prepare the executable.
base=`basename $executable`
$PREFIX/bin/arm-rtems4.12-objcopy $executable -O binary $TMPDIR/$base.bin
gzip -9 $TMPDIR/$base.bin
$PREFIX/bin/mkimage -A arm -O rtems -T kernel -a 0x80000000 -e 0x80000000 -n RTEMS -d $TMPDIR/$base.bin.gz $TMPDIR/$app
echo "setenv bootdelay 5
uenvcmd=run boot
boot=fatload mmc 0 0x80800000 $app ; bootm 0x80800000" >$TMPDIR/$UENV

# Copy the uboot and app image onto the FAT image
$PREFIX/bin/mcopy -bsp -i $FATIMG $PREFIX/uboot/$ubootcfg/MLO ::MLO
$PREFIX/bin/mcopy -bsp -i $FATIMG $PREFIX/uboot/$ubootcfg/u-boot.img ::u-boot.img
$PREFIX/bin/mcopy -bsp -i $FATIMG $TMPDIR/$app ::$app
$PREFIX/bin/mcopy -bsp -i $FATIMG $TMPDIR/$UENV ::$UENV

# Just a single FAT partition (type C) that uses all of the image
$PREFIX/bin/partition -m $IMG $OFFSET c:${FATSIZE}\*

# Put the FAT image into the SD image
dd if=$FATIMG of=$IMG seek=$OFFSET

# cleanup
rm -rf $TMPDIR

echo "Result is in $IMG."

接下来就开始制作镜像，首先制作一个hello world例子镜像。

cd $HOME/development/rtems/rtems-src/c/src/lib/libbsp/arm/beagle/simscripts

进入脚本所在的目录

键入如下命令

sh sdcard.sh $HOME/development/rtems/4.12 $HOME/development/rtems/b-beagle/arm-rtems4.12/c/beagleboneblack/testsuites/samples/hello/hello.exe

第一个路径是uboot等一些文件的存放处，第二个路径是hello.exe例子程序所在。

回车后会提示：

Result is in bone_hello.exe-sdcard.img.

表示镜像文件已经生成，这样生成的image文件就存放在当前目录下，也就是脚本所在的目录。



接下来就是将镜像文件写入sd卡中，在这里本人准备的是一张8G的sd卡。

利用读卡器插上电脑后，查看sd卡的设备号，一般是/dev/sdb

然后利用linux自带的烧写命令：

dd if=bone_hello.exe-sdcard.img of=/dev/sdb bs=4096

if=×.img 表示input file，是要烧入的文件，of表示output file 是写入的文件，bs=4096 表示烧写的速度

执行该命令后提示：



表示写入完成，然后bbb板通过sd卡启动，可发现板上的4个led有规律的闪烁。通过minicom监控串口信息：

# picocom -b 115200 /dev/ttyUSB0
U-Boot SPL 2014.04-00015-gb4422bd (Apr 22 2014 - 13:24:29)
reading args
spl_load_image_fat_os: error reading image args, err - -1
reading u-boot.img
reading u-boot.img

U-Boot 2014.04-00015-gb4422bd (Apr 22 2014 - 13:24:29)

I2C:   ready
DRAM:  512 MiB
NAND:  0 MiB
MMC:   OMAP SD/MMC: 0, OMAP SD/MMC: 1
*** Warning - readenv() failed, using default environment

Net:   <ethaddr> not set. Validating first E-fuse MAC
cpsw, usb_ether
Hit any key to stop autoboot:  0
gpio: pin 53 (gpio 53) value is 1
mmc0 is current device
gpio: pin 54 (gpio 54) value is 1
SD/MMC found on device 0
reading uEnv.txt
99 bytes read in 5 ms (18.6 KiB/s)
gpio: pin 55 (gpio 55) value is 1
Loaded environment from uEnv.txt
Importing environment from mmc ...
Checking if uenvcmd is set ...
gpio: pin 56 (gpio 56) value is 1
Running uenvcmd ...
reading rtems-app.img
58629 bytes read in 11 ms (5.1 MiB/s)
## Booting kernel from Legacy Image at 80800000 ...
Image Name:   RTEMS
Image Type:   ARM RTEMS Kernel Image (gzip compressed)
Data Size:    58565 Bytes = 57.2 KiB
Load Address: 80000000
Entry Point:  80000000
Verifying Checksum ... OK
Uncompressing Kernel Image ... OK
## Transferring control to RTEMS (at address 80000000) ...

RTEMS Beagleboard: am335x-based

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

表明启动成功。

查看sd卡中的文件，有以下四个文件：



其中MLO，uboot，uenv文件是必须的，rtems-app就是hello.exe生成的镜像。

接下来将编译好的rtems文件系统制作成img镜像：

在这里要用到一个软件：rki（rtems kernel image）可以将rtems制作成.elf文件

在github上git到，https://github.com/alanc98/rki

阅读其readme文件：

You can find the Waf project here:

http://code.google.com/p/waf/

Simple instructions on How to set up Waf is here:

http://www.rtems.org/ftp/pub/rtems/people/chrisj/rtl/rtems-linker/waf.html

Steps

-----

1. Build or install the tools. In this example the path is

$HOME/Development/rtems/4.12.

2. Build and install the RTEMS Board Support Packages you want to use. In this

example the path is $HOME/Development/rtems/build/4.12.

3. Unpack this package somewhere, anywhere on your disk and change into the top

level directory.

4. Populate the git submodule:

$ git submodule init

$ git submodule update

5. Configure with your specific settings. In this case the path to the tools

and RTEMS and provided on the command line and so do not need to be in your

path or environment [1] and we limit the build to 'sparc/sis' BSP:

$ waf configure --rtems=$HOME/Development/rtems/build/4.12 \

--rtems-tools=$HOME/Development/rtems/4.12 \

--rtems-version=4.12 \

--rtems-bsps=sparc/sis

You can use '--rtems-archs=sparc,sis' or

'--rtems-bsps=sparc/sis,arm/raspberrypi' to build for more than BSP at a time.

6. Build:

$ waf

7. Run the executable using the simulator:

$ $HOME/Development/rtems/4.12/bin/sparc-rtems4.12-run \

./build/sparc-rtems4.12-sis/rki.elf

根据上述，打开makefile文件，找到以下几行：

RTEMS_TOOL_BASE ?= /home/c/development/rtems/4.12/bin/

RTEMS_BSP_BASE ?= /home/c/development/rtems/image

BSP            ?= beagleboneblack

ARCH           ?= arm-rtems4.12

将路径改成自己的。

然后echo $PATH确认export后，make报错

/home/lenovo/development/rtems/4.11/lib/gcc/arm-rtems4.11/4.9.2/../../../../arm-rtems4.11/bin/ld: error: legacy-build/arm-rtems4.11-beagleboneblack/rki.elf uses VFP register arguments, /home/lenovo/development/rtems/image/arm-rtems4.11/beagleboneblack/lib/librtemscpu.a(libposix_a-pthreadself.o)
does not

/home/lenovo/development/rtems/4.11/lib/gcc/arm-rtems4.11/4.9.2/../../../../arm-rtems4.11/bin/ld: failed to merge target specific data of file /home/lenovo/development/rtems/image/arm-rtems4.11/beagleboneblack/lib/librtemscpu.a(libposix_a-pthreadself.o)

collect2: error: ld returned 1 exit status

make: *** [rki.elf] 错误 1

rki编译的错误提示是这样：
rki.elf uses VFP register arguments,  BUT librtemscpu.a(libposix_a-pthreadself.o) does not (use VFP)
修改的方法之一是把 rki 目录下面的 Makefile 里 LDFLAGS(可能还包括 ARCH_OPTS)选项中  -mfloat-abi=hard 去掉
然后生成rki.elf和rki.bin

然后通过sdcard脚本将rki.elf文件制成img文件：

cd $HOME/development/rtems/rtems-src/c/src/lib/libbsp/arm/beagle/simscripts

sh sdcard.sh $HOME/development/rtems/4.12 $HOME/rki/legacy-build/arm-rtems4.12-beagleboneblack/rki.elf

制成后img如下：



然后通过dd命令将该img烧写进sd卡中：

dd if=bone_rki.elf-sdcard.img of=/dev/sdb bs=4096

烧写完成即可启动bbb板，串口信息如下：





表示系统移植成功。