Complete scaffold for building EDISOFT RTEMS applications including native FPU usage

Makefile

+# Configuration section
+#
+# Use environment variables if found, otherwise fallback to sane defaults
+RTEMS_MAKEFILE_PATH ?= /opt/rtems-4.8/sparc-rtems4.8/leon3
+RTEMS_LIB=${RTEMS_MAKEFILE_PATH}/lib
+EDISOFT_SUPPORT_PATH ?= /root/development/build/rtems-impr/testsuites/support
+CROSS_PREFIX=sparc-rtems4.8
+
+# Detect the platform (last part of the path of RTEMS_MAKEFILE_PATH - e.g. leon3, leon2, etc)
+PLATFORM = $(shell sh -c "echo ${RTEMS_MAKEFILE_PATH} | sed 's,^.*/,,'")
+
+# The directories containing the source files, separated by ':'
+VPATH=src:${EDISOFT_SUPPORT_PATH}/src
+
+# If not selected, compile debug version of binary (no optimizations)
+ifeq ($(CFG),)
+CFG=debug
+endif
+
+# If not explicitely selected (with 'make FPU=1'), compile for FPU emulation
+ifeq ($(FPU),)
+FPU=0
+endif
+
+# Use EDISOFT's support code for e.g. printing to serial (printk)
+EDISOFT_SRC= \
+	printk.c \
+
+# In case you need them, EDISOFT's tests also include versions of:
+#	strcat.c \
+#	strcmp.c \
+#	strcpy.c \
+#	strlen.c \
+# Remember, there's no C library in this universe - unless you explicitely
+# compile with newlib! See EDISOFT's UMDN for details.
+#
+# This is necessary for printk (serial port registers per specific BSP)
+EDISOFT_SRC += ${PLATFORM}.c
+
+# Your source files: regardless of where they reside in the source tree,
+# VPATH will locate them...
+NONFPU_SRC=              \
+	init.c           \
+	${EDISOFT_SRC}
+
+FPU_SRC=              \
+	task1.c
+
+# Build a Dependency list and an Object list, by replacing the .c
+# extension to .d for dependency files, and .o for object files.
+NONFPU_DEP = $(patsubst %.c, deps.$(CFG)/NONFPU_%.d, ${NONFPU_SRC})
+FPU_DEP = $(patsubst %.c, deps.$(CFG)/FPU_%.d, ${FPU_SRC})
+NONFPU_OBJ = $(patsubst %.c, objs.$(CFG)/NONFPU_%.o, ${NONFPU_SRC})
+FPU_OBJ = $(patsubst %.c, objs.$(CFG)/FPU_%.o, ${FPU_SRC})
+
+# Your final binary
+TARGET=fputest
+
+# What compiler to use for generating dependencies: 
+# it will be invoked with -MM -MP
+CC = ${CROSS_PREFIX}-gcc
+CDEP = ${CC}
+
+# What include flags to pass to the compiler
+INCLUDEFLAGS= -I${EDISOFT_SUPPORT_PATH}/include -I src
+
+# Compilation flags (common)
+COMMON += -B${RTEMS_LIB} -specs bsp_specs -qrtems -nodefaultlibs \
+	  -mcpu=cypress -DBSP_leon3 
+
+# Separate compile options per configuration
+ifeq ($(CFG),debug)
+CFLAGS += ${COMMON} -g -Wall -D_DEBUG ${INCLUDEFLAGS} -msoft-float
+else
+CFLAGS += ${COMMON} -g -O2 -Wall ${INCLUDEFLAGS} -msoft-float
+endif
+
+# Should we generate native FPU instructions for the FPU_SRC?
+ifeq ($(FPU),1)
+CFLAGS_FPU:=$(shell bash -c "echo ${CFLAGS} | sed 's,-msoft-float,,'")
+else
+CFLAGS_FPU:=${CFLAGS}
+LDFLAGS += -msoft-float
+endif
+
+# A common link flag for all configurations
+LDFLAGS += ${COMMON} -nodefaultlibs -Wl,--wrap,_IO_Initialize_all_drivers \
+	   ${RTEMS_LIB}/libno_event.a ${RTEMS_LIB}/libno_msg.a            \
+	   ${RTEMS_LIB}/libno_sem.a ${RTEMS_LIB}/libno_timer.a            \
+	   ${RTEMS_LIB}/libno_rtmon.a ${RTEMS_LIB}/libno_ext.a            \
+	   -Wl,--start-group -lrtemscpu -lio -lno_event -lno_msg -lno_sem \
+	   -lno_timer -lno_rtmon -lno_ext -lrtemsbsp -llibc -lrtemscpu    \
+	   -Wl,--end-group -Wl,--script=linkcmds                          \
+	   -B/tmp/edilibtmp/edilib/library -lgcc
+
+all:	inform bin.$(CFG)/${TARGET}
+
+inform:
+ifneq ($(CFG),release)
+ifneq ($(CFG),debug)
+	@echo "Invalid configuration "$(CFG)" specified."
+	@echo "You must specify a configuration when running make, e.g."
+	@echo  "make CFG=debug"
+	@echo  
+	@echo  "Possible choices for configuration are 'release' and 'debug'"
+	@exit 1
+endif
+endif
+
+
+bin.$(CFG)/${TARGET}: ${NONFPU_OBJ} ${FPU_OBJ} | inform
+	@mkdir -p $(dir $@)
+ifeq ($(V),1)
+	$(CC) -g -o $@ $^ ${LDFLAGS}
+else
+	@echo [LD] $@
+	@$(CC) -g -o $@ $^ ${LDFLAGS}
+endif
+ifeq ($(CFG),release)
+	@${CROSS_PREFIX}-objcopy --only-keep-debug $@ ${@}.debug
+	@${CROSS_PREFIX}-strip $@
+endif
+	@echo Built with RTEMS at ${RTEMS_LIB} for ${PLATFORM}.
+
+objs.$(CFG)/NONFPU_%.o: %.c
+	@mkdir -p $(dir $@)
+ifeq ($(V),1)
+	$(CC) -c $(CFLAGS) -o $@ $<
+else
+	@echo [CC] $@
+	@$(CC) -c $(CFLAGS) -o $@ $<
+endif
+
+objs.$(CFG)/FPU_%.o: %.c
+	@mkdir -p $(dir $@)
+ifeq ($(V),1)
+	$(CC) -c $(CFLAGS_FPU) -o $@ $<
+else
+	@echo [CC] $@
+	@$(CC) -c $(CFLAGS_FPU) -o $@ $<
+endif
+
+deps.$(CFG)/NONFPU_%.d: %.c
+	@mkdir -p $(dir $@)
+	@echo Generating dependencies for $<
+	@set -e ; $(CDEP) -MM -MP $(INCLUDEFLAGS) $< > $@.$$$$; \
+	sed 's,\($*\)\.o[ :]*,objs.$(CFG)\/NONFPU_\1.o $@ : ,g' < $@.$$$$ > $@; \
+	rm -f $@.$$$$
+
+deps.$(CFG)/FPU_%.d: %.c
+	@mkdir -p $(dir $@)
+	@echo Generating dependencies for $<
+	@set -e ; $(CDEP) -MM -MP $(INCLUDEFLAGS) $< > $@.$$$$; \
+	sed 's,\($*\)\.o[ :]*,objs.$(CFG)\/NONFPU_\1.o $@ : ,g' < $@.$$$$ > $@; \
+	rm -f $@.$$$$
+
+clean:
+	@rm -rf \
+	deps.debug objs.debug bin.debug \
+	deps.release objs.release bin.release
+
+# Unless "make clean" is called, include the dependency files
+# which are auto-generated. Don't fail if they are missing
+# (-include), since they will be missing in the first invocation!
+ifneq ($(MAKECMDGOALS),clean)
+-include ${NONFPU_DEP}
+-include ${FPU_DEP}
+endif

src/init.c

+/*
+ * Example initialization file - spawns 2 native FPU tasks
+ *
+ */
+#define CONFIGURE_INIT
+#define TASKS 2
+
+#include "system.h"
+#include "printk.h"
+
+rtems_task Init(rtems_task_argument argument)
+{
+    rtems_status_code status;
+    rtems_name Task_name[TASKS]; /* task names */
+    rtems_id Task_id[TASKS]; /* task ids */
+    int i;
+
+    for(i = 0; i < TASKS; i++)
+    {
+        // Initialize Task name
+        Task_name[i] = rtems_build_name('T', 'T', "0" + i / 10, "0" + i % 10);
+
+        // Create Task
+        status = rtems_task_create(
+            Task_name[i],
+            (rtems_task_priority) (i + 1),
+            RTEMS_MINIMUM_STACK_SIZE,
+            RTEMS_DEFAULT_MODES,
+            RTEMS_FLOATING_POINT, // use RTEMS_DEFAULT_ATTRIBUTES for non-native FPU tasks
+            &Task_id[i]);
+	if (status != RTEMS_SUCCESSFUL) {
+	    printk("Failed to rtems_task_create... status:%0x\n", status);
+            rtems_task_delete(RTEMS_SELF);
+	}
+
+        // Start Task
+        status = rtems_task_start(
+            Task_id[i],
+            Task_EntryPoint,
+            i);
+    }
+    printk("Parent task sleeps for a second...\n");
+    rtems_task_wake_after(100);
+    rtems_task_delete(RTEMS_SELF);
+}

src/system.h

+#include <rtems/score/types.h>
+#include <rtems/rtems/types.h>
+#include <rtems/rtems/tasks.h>
+
+rtems_task Init(rtems_task_argument argument);
+rtems_task Task_EntryPoint(rtems_task_argument argument);
+
+#define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
+#define CONFIGURE_MAXIMUM_TASKS           64
+#define CONFIGURE_TICKS_PER_TIMESLICE     100
+#define CONFIGURE_RTEMS_INIT_TASKS_TABLE
+
+#include <rtems/confdefs.h>

src/task1.c

+#include "system.h"
+#include "printk.h"
+
+rtems_task Task_EntryPoint(rtems_task_argument argument)
+{
+    int task_no = (int) argument;
+    printk("Inside task %d...\n", task_no);
+
+    int j;
+    double d=task_no;
+    for(j=0; j<10000; j++) {
+        int k;
+        for(k=0; k<100; k++)
+            d+=1.001;
+        d*=1.0001;
+    }
+    printk("Computed value by task %d was %ld\n", task_no, (long)d);
+    rtems_task_delete(RTEMS_SELF);
+}