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Getting FreeRTOS to work with GCC and LPC2129

March 10, 2011 Leave a comment

FreeRTOS is a good OS to start with, if you have some fairly good hardware, like an LPC2129, ARM based chip. FreeRTOS is aimed to work with different processor architectures. The OS has two parts – a set of architecture independent codes, and a set of architecture specific codes called ports. The syntax for non standard functionalities like interrupt handling and inline assembly will be different for different compilers. Interrupt Service Routines and inline assembly are typically necessary for the architecture dependent files. Therefore, a port will be specific to a compiler and a target chip. But the present version of FreeRTOS doesn’t have a port for LPC2129 – GCC combination.

I assume that you have a working gcc compiler and other tools already installed. Refer to ARM Development under Ubuntu 10.04, for how to setup tools under Linux. Download FreeRTOS from sourceforge.net. Unzip into a convenient location.

The files you will need to compile are

  • list.c, queue.c, task.c and croutine.c from Source/
  • port.c and portISR.c form Source/portable/GCC/ARM7_LPC2000
  • heap_2.c from Source/portable/MemMang
  • A file containing the main() routine
  • boot.s and lpc2106-rom.ld from Demo/ARM7_LPC2106_GCC
  • LPC21xx.h from Demo/ARM7_LPC2138_Rowley

Rename lpc2106-rom.ld to LPC2129-ROM.ld, and open it using text editor. You will see the following at the start of the file.

Change these lines as displayed in the following figure. The size of the Flash and RAM are modified to that of the LPC2129.A simple main file will look like

#include “FreeRTOS.h”
#include “task.h”

int main(void)
{

unsigned char para0, para1;
para0 = 0;
xTaskCreate( foobar, “NAME”, configMINIMAL_STACK_SIZE, &para0, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );
para1 = 1;
xTaskCreate( foobar, “NAME”, configMINIMAL_STACK_SIZE, &para1, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );
vTaskStartScheduler();
while(1);

}

void foobar( void* pvParameters )
{

unsigned char *flag;
flag=(unsigned char*)pvParameters;
while (1){

if(*flag==0){

//do something

}
else{

//do something else

}

}

}

(Thanks to my friends Abhishek and Nisarg for the original main file)

Now you can compile and link all the files specified above, along with the libc.a , specified by linker option -lc, and chip specification -TLPC2129-ROM.ld. Also add Source/include directory to your include/compiler search path.

The generated elf file can be converted to hex file using arm-elf-objcopy command (if you have followed ARM Development under Ubuntu 10.04 ). The program can be dumped into the LPC2129 chip through the serial connection using command lpc21isp

eg:- lpc21isp -control -hex trial.hex /dev/ttyS0 9600 12000 will program trial.hex into the chip, through serial port ttyS0 at 9600 baud per second. 12000 is the frequency of the crystal (in kHz) used for the LPC2129 chip.

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ARM development under Ubuntu 10.04

March 6, 2011 1 comment

Introduction

ARM is a very popular microprocessor architecture for embedded systems. Many mobile phones, netbooks and other similar portable computing and communication devices have an ARM core inside. Usually these ARM based embedded systems will have some operating system as well. Hence application development for ARM can be either on top of the OS or without the OS. In this page I will be describing about development of ARM applications without an OS (bare metal development).

C is the language of preference for embedded development, especially when it comes to systems without OS. I’m using the following set of tools to develop the C code and turn it into a machine language.

Tools

Code::Blocks IDE

Compiler, Linker etc.

Computer with Ubuntu Linux

Setting up the system

Code::Blocks is an easy to use Integrated Development Environment, which can be installed form Synaptic Package Manager or Ubuntu Software Center. Install Code::Blocks from one of these application.

Some of the bare metal development tools are listed here. Download the GNU GCC Toolchain for Linux. Extract the archive file by right click >> extract here. Now open the terminal and move the extracted folder to /usr/local/ directory. This can be done by issuing the command sudo mv arm /usr/local/. Though it is not absolutely necessary to move it to the /usr/local/ directory, it is the neat way. Add the location of the binaries to PATH, by issuing echo ‘export PATH=/usr/local/arm/bin:$PATH’ >> ~/.profile. You will need a reboot(Logging out and Logging in may be enough) of your computer for the new path to take effect. Verify whether the steps so far are done correctly by issuing arm-elf-gcc -v and see if the gcc is reporting the version. With this the tool chain installation is done.

You have to configure Code::Blocks to use the ARM GCC Toolchain. For this, goto Settings>>Compiler and Debugger…. A dialog box as shown below should appear.

Change Selected Compiler to GNU ARM GCC Compiler. Choose the Linker settings Tab, and add to other linker options -TLPC2129-ROM.ld, as shown. This configures the Code Blocks to use the file named LPC2129-ROM.ld as the linker configuration script.

In the Search directories tab, add /usr/local/arm/arm-elf/include for Compiler and /usr/local/arm/arm-elf/lib for Linker. This step make the Include and lib directory known to Code::Blocks and hence the compiler/linker.

Click on the arrow to the right of the Search directories tab, to reveal more tabs. In the Toolchain executables tab, set the Compiler’s Installation Directory to /usr/local/arm. Press OK to save the configuration. Code::Blocks is now configured correctly with the ARM GCC toolchain.

Starting an ARM project

Choose File>>New>>Project. Select Empty Project from the dialog box, and press Go. Enter ‘Folder to create Project in:’ and ‘Project Title:’ and press Next. Choose GNU ARM GCC Compiler, and clear the ‘Create “Release” Configuration’ checkbox, and press Finish. Now you can add your own source codes to the project. Do remember to add a crt0.S file to the project and to keep a file named LPC2129-ROM.ld in the project’s directory.

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