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><H1
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><A
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><A
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NAME="SYNTH">Overview</H1
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NAME="SYNTH">Overview</H1
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><DIV
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><DIV
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CLASS="REFNAMEDIV"
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CLASS="REFNAMEDIV"
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><A
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><A
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NAME="AEN6"
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NAME="AEN6"
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></A
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><H2
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><H2
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>Name</H2
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>Name</H2
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>The eCos synthetic target -- Overview</DIV
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>The eCos synthetic target -- Overview</DIV
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><DIV
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><DIV
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CLASS="REFSECT1"
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CLASS="REFSECT1"
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><A
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><A
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NAME="SYNTH-DESCRIPTION"
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NAME="SYNTH-DESCRIPTION"
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></A
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><H2
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><H2
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>Description</H2
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>Description</H2
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><P
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><P
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>Usually eCos runs on either a custom piece of hardware, specially
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>Usually eCos runs on either a custom piece of hardware, specially
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designed to meet the needs of a specific application, or on a
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designed to meet the needs of a specific application, or on a
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development board of some sort that is available before the final
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development board of some sort that is available before the final
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hardware. Such boards have a number of things in common:
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hardware. Such boards have a number of things in common:
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</P
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</P
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><P
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><P
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></P
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></P
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><OL
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><OL
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TYPE="1"
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TYPE="1"
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><LI
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><LI
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><P
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><P
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>Obviously there has to be at least one processor to do the work. Often
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>Obviously there has to be at least one processor to do the work. Often
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this will be a 32-bit processor, but it can be smaller or larger.
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this will be a 32-bit processor, but it can be smaller or larger.
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Processor speed will vary widely, depending on the expected needs of
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Processor speed will vary widely, depending on the expected needs of
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the application. However the exact processor being used tends not to
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the application. However the exact processor being used tends not to
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matter very much for most of the development process: the use of
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matter very much for most of the development process: the use of
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languages such as C or C++ means that the compiler will handle those
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languages such as C or C++ means that the compiler will handle those
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details.
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details.
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</P
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</P
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></LI
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></LI
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><LI
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><LI
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><P
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><P
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>There needs to be memory for code and for data. A typical system will
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>There needs to be memory for code and for data. A typical system will
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have two different types of memory. There will be some non-volatile
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have two different types of memory. There will be some non-volatile
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memory such as flash, EPROM or masked ROM. There will also be some
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memory such as flash, EPROM or masked ROM. There will also be some
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volatile memory such as DRAM or SRAM. Often the code for the final
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volatile memory such as DRAM or SRAM. Often the code for the final
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application will reside in the non-volatile memory and all of the RAM
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application will reside in the non-volatile memory and all of the RAM
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will be available for data. However updating non-volatile memory
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will be available for data. However updating non-volatile memory
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requires a non-trivial amount of effort, so for much of the
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requires a non-trivial amount of effort, so for much of the
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development process it is more convenient to burn suitable firmware,
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development process it is more convenient to burn suitable firmware,
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for example RedBoot, into the non-volatile memory and then use that to
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for example RedBoot, into the non-volatile memory and then use that to
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load the application being debugged into RAM, alongside the
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load the application being debugged into RAM, alongside the
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application data and a small area reserved for use by the firmware.
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application data and a small area reserved for use by the firmware.
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</P
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</P
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></LI
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></LI
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><LI
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><LI
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><P
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><P
|
>The platform must provide certain mimimal I/O facilities. Most eCos
|
>The platform must provide certain mimimal I/O facilities. Most eCos
|
configurations require a clock signal of some sort. There must also be
|
configurations require a clock signal of some sort. There must also be
|
some way of outputting diagnostics to the user, often but not always
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some way of outputting diagnostics to the user, often but not always
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via a serial port. Unless special debug hardware is being used, source
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via a serial port. Unless special debug hardware is being used, source
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level debugging will require bidirectional communication between a
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level debugging will require bidirectional communication between a
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host machine and the target hardware, usually via a serial port or an
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host machine and the target hardware, usually via a serial port or an
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ethernet device.
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ethernet device.
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</P
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</P
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></LI
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></LI
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><LI
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><LI
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><P
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><P
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>All the above is not actually very useful yet because there is no way
|
>All the above is not actually very useful yet because there is no way
|
for the embedded device to interact with the rest of the world, except
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for the embedded device to interact with the rest of the world, except
|
by generating diagnostics. Therefore an embedded device will have
|
by generating diagnostics. Therefore an embedded device will have
|
additional I/O hardware. This may be fairly standard hardware such as
|
additional I/O hardware. This may be fairly standard hardware such as
|
an ethernet or USB interface, or special hardware designed
|
an ethernet or USB interface, or special hardware designed
|
specifically for the intended application, or quite often some
|
specifically for the intended application, or quite often some
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combination. Standard hardware such as ethernet or USB may be
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combination. Standard hardware such as ethernet or USB may be
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supported by eCos device drivers and protocol stacks, whereas the
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supported by eCos device drivers and protocol stacks, whereas the
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special hardware will be driven directly by application code.
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special hardware will be driven directly by application code.
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</P
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</P
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></LI
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></LI
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></OL
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></OL
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><P
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><P
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>Much of the above can be emulated on a typical PC running Linux.
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>Much of the above can be emulated on a typical PC running Linux.
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Instead of running the embedded application being developed on a
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Instead of running the embedded application being developed on a
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target board of some sort, it can be run as a Linux process. The
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target board of some sort, it can be run as a Linux process. The
|
processor will be the PC's own processor, for example an x86, and the
|
processor will be the PC's own processor, for example an x86, and the
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memory will be the process' address space. Some I/O facilities can be
|
memory will be the process' address space. Some I/O facilities can be
|
emulated directly through system calls. For example clock hardware can
|
emulated directly through system calls. For example clock hardware can
|
be emulated by setting up a <TT
|
be emulated by setting up a <TT
|
CLASS="LITERAL"
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CLASS="LITERAL"
|
>SIGALRM</TT
|
>SIGALRM</TT
|
> signal, which
|
> signal, which
|
will cause the process to be interrupted at regular intervals. This
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will cause the process to be interrupted at regular intervals. This
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emulation of real hardware will not be particularly accurate, the
|
emulation of real hardware will not be particularly accurate, the
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number of cpu cycles available to the eCos application between clock
|
number of cpu cycles available to the eCos application between clock
|
ticks will vary widely depending on what else is running on the PC,
|
ticks will vary widely depending on what else is running on the PC,
|
but for much development work it will be good enough.
|
but for much development work it will be good enough.
|
</P
|
</P
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><P
|
><P
|
>Other I/O facilities are provided through an I/O auxiliary process,
|
>Other I/O facilities are provided through an I/O auxiliary process,
|
ecosynth, that gets spawned by the eCos application during startup.
|
ecosynth, that gets spawned by the eCos application during startup.
|
When an eCos device driver wants to perform some I/O operation, for
|
When an eCos device driver wants to perform some I/O operation, for
|
example send out an ethernet packet, it sends a request to the I/O
|
example send out an ethernet packet, it sends a request to the I/O
|
auxiliary. That is an ordinary Linux application so it has ready
|
auxiliary. That is an ordinary Linux application so it has ready
|
access to all normal Linux I/O facilities. To emulate a device
|
access to all normal Linux I/O facilities. To emulate a device
|
interrupt the I/O auxiliary can raise a <TT
|
interrupt the I/O auxiliary can raise a <TT
|
CLASS="LITERAL"
|
CLASS="LITERAL"
|
>SIGIO</TT
|
>SIGIO</TT
|
>
|
>
|
signal within the eCos application. The HAL's interrupt subsystem
|
signal within the eCos application. The HAL's interrupt subsystem
|
installs a signal handler for this, which will then invoke the
|
installs a signal handler for this, which will then invoke the
|
standard eCos ISR/DSR mechanisms. The I/O auxiliary is based around
|
standard eCos ISR/DSR mechanisms. The I/O auxiliary is based around
|
Tcl scripting, making it easy to extend and customize. It should be
|
Tcl scripting, making it easy to extend and customize. It should be
|
possible to configure the synthetic target so that its I/O
|
possible to configure the synthetic target so that its I/O
|
functionality is similar to what will be available on the final target
|
functionality is similar to what will be available on the final target
|
hardware for the application being developed.
|
hardware for the application being developed.
|
</P
|
</P
|
><DIV
|
><DIV
|
CLASS="INFORMALFIGURE"
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CLASS="INFORMALFIGURE"
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><A
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><A
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NAME="AEN25"><P
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NAME="AEN25"><P
|
></P
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></P
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><DIV
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><DIV
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CLASS="MEDIAOBJECT"
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CLASS="MEDIAOBJECT"
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><P
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><P
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><IMG
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><IMG
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SRC="overview.gif"
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SRC="overview.gif"
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ALIGN="CENTER"></P
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ALIGN="CENTER"></P
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></DIV
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></DIV
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><P
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><P
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></P
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></P
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></DIV
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></DIV
|
><P
|
><P
|
>A key requirement for synthetic target code is that the embedded
|
>A key requirement for synthetic target code is that the embedded
|
application must not be linked with any of the standard Linux
|
application must not be linked with any of the standard Linux
|
libraries such as the GNU C library: that would lead to a confusing
|
libraries such as the GNU C library: that would lead to a confusing
|
situation where both eCos and the Linux libraries attempted to provide
|
situation where both eCos and the Linux libraries attempted to provide
|
functions such as <TT
|
functions such as <TT
|
CLASS="FUNCTION"
|
CLASS="FUNCTION"
|
>printf</TT
|
>printf</TT
|
>. Instead the synthetic
|
>. Instead the synthetic
|
target support must be implemented directly on top of the Linux
|
target support must be implemented directly on top of the Linux
|
kernels' system call interface. For example, the kernel provides a
|
kernels' system call interface. For example, the kernel provides a
|
system call for write operations. The actual function
|
system call for write operations. The actual function
|
<TT
|
<TT
|
CLASS="FUNCTION"
|
CLASS="FUNCTION"
|
>write</TT
|
>write</TT
|
> is implemented in the system's C library,
|
> is implemented in the system's C library,
|
but all it does is move its arguments on to the stack or into certain
|
but all it does is move its arguments on to the stack or into certain
|
registers and then execute a special trap instruction such as
|
registers and then execute a special trap instruction such as
|
<TT
|
<TT
|
CLASS="LITERAL"
|
CLASS="LITERAL"
|
>int 0x80</TT
|
>int 0x80</TT
|
>. When this instruction is executed
|
>. When this instruction is executed
|
control transfers into the kernel, which will validate the arguments
|
control transfers into the kernel, which will validate the arguments
|
and perform the appropriate operation. Now, a synthetic target
|
and perform the appropriate operation. Now, a synthetic target
|
application cannot be linked with the system's C library. Instead it
|
application cannot be linked with the system's C library. Instead it
|
contains a function <TT
|
contains a function <TT
|
CLASS="FUNCTION"
|
CLASS="FUNCTION"
|
>cyg_hal_sys_write</TT
|
>cyg_hal_sys_write</TT
|
> which, like
|
> which, like
|
the C library's <TT
|
the C library's <TT
|
CLASS="FUNCTION"
|
CLASS="FUNCTION"
|
>write</TT
|
>write</TT
|
> function, pushes its
|
> function, pushes its
|
arguments on to the stack and executes the trap instruction. The Linux
|
arguments on to the stack and executes the trap instruction. The Linux
|
kernel cannot tell the difference, so it will perform the I/O
|
kernel cannot tell the difference, so it will perform the I/O
|
operation requested by the synthetic target. With appropriate
|
operation requested by the synthetic target. With appropriate
|
knowledge of what system calls are available, this makes it possible
|
knowledge of what system calls are available, this makes it possible
|
to emulate the required I/O facilities. For example, spawning the
|
to emulate the required I/O facilities. For example, spawning the
|
ecosynth I/O auxiliary involves system calls
|
ecosynth I/O auxiliary involves system calls
|
<TT
|
<TT
|
CLASS="FUNCTION"
|
CLASS="FUNCTION"
|
>cyg_hal_sys_fork</TT
|
>cyg_hal_sys_fork</TT
|
> and
|
> and
|
<TT
|
<TT
|
CLASS="FUNCTION"
|
CLASS="FUNCTION"
|
>cyg_hal_sys_execve</TT
|
>cyg_hal_sys_execve</TT
|
>, and sending a request to the
|
>, and sending a request to the
|
auxiliary uses <TT
|
auxiliary uses <TT
|
CLASS="FUNCTION"
|
CLASS="FUNCTION"
|
>cyg_hal_sys_write</TT
|
>cyg_hal_sys_write</TT
|
>.
|
>.
|
</P
|
</P
|
><P
|
><P
|
>In many ways developing for the synthetic target is no different from
|
>In many ways developing for the synthetic target is no different from
|
developing for real embedded targets. eCos must be configured
|
developing for real embedded targets. eCos must be configured
|
appropriately: selecting a suitable target such as
|
appropriately: selecting a suitable target such as
|
<TT
|
<TT
|
CLASS="USERINPUT"
|
CLASS="USERINPUT"
|
><B
|
><B
|
>i386linux</B
|
>i386linux</B
|
></TT
|
></TT
|
> will cause the configuration system
|
> will cause the configuration system
|
to load the appropriate packages for this hardware; this includes an
|
to load the appropriate packages for this hardware; this includes an
|
architectural HAL package and a platform-specific package; the
|
architectural HAL package and a platform-specific package; the
|
architectural package contains generic code applicable to all Linux
|
architectural package contains generic code applicable to all Linux
|
platforms, whereas the platform package is for specific Linux
|
platforms, whereas the platform package is for specific Linux
|
implementations such as the x86 version and contains any
|
implementations such as the x86 version and contains any
|
processor-specific code. Selecting this target will also bring in some
|
processor-specific code. Selecting this target will also bring in some
|
device driver packages. Other aspects of the configuration such as
|
device driver packages. Other aspects of the configuration such as
|
which API's are supported are determined by the template, by adding
|
which API's are supported are determined by the template, by adding
|
and removing packages, and by fine-grained configuration.
|
and removing packages, and by fine-grained configuration.
|
</P
|
</P
|
><P
|
><P
|
>In other ways developing for the synthetic target can be much easier
|
>In other ways developing for the synthetic target can be much easier
|
than developing for a real embedded target. For example there is no
|
than developing for a real embedded target. For example there is no
|
need to worry about building and installing suitable firmware on the
|
need to worry about building and installing suitable firmware on the
|
target hardware, and then downloading and debugging the actual
|
target hardware, and then downloading and debugging the actual
|
application over a serial line or a similar connection. Instead an
|
application over a serial line or a similar connection. Instead an
|
eCos application built for the synthetic target is mostly
|
eCos application built for the synthetic target is mostly
|
indistinguishable from an ordinary Linux program. It can be run simply
|
indistinguishable from an ordinary Linux program. It can be run simply
|
by typing the name of the executable file at a shell prompt.
|
by typing the name of the executable file at a shell prompt.
|
Alternatively you can debug the application using whichever version of
|
Alternatively you can debug the application using whichever version of
|
gdb is provided by your Linux distribution. There is no need to build
|
gdb is provided by your Linux distribution. There is no need to build
|
or install special toolchains. Essentially using the synthetic target
|
or install special toolchains. Essentially using the synthetic target
|
means that the various problems associated with real embedded hardware
|
means that the various problems associated with real embedded hardware
|
can be bypassed for much of the development process.
|
can be bypassed for much of the development process.
|
</P
|
</P
|
><P
|
><P
|
>The eCos synthetic target provides emulation, not simulation. It is
|
>The eCos synthetic target provides emulation, not simulation. It is
|
possible to run eCos in suitable architectural simulators but that
|
possible to run eCos in suitable architectural simulators but that
|
involves a rather different approach to software development. For
|
involves a rather different approach to software development. For
|
example, when running eCos on the psim PowerPC simulator you need
|
example, when running eCos on the psim PowerPC simulator you need
|
appropriate cross-compilation tools that allow you to build PowerPC
|
appropriate cross-compilation tools that allow you to build PowerPC
|
executables. These are then loaded into the simulator which interprets
|
executables. These are then loaded into the simulator which interprets
|
every instruction and attempts to simulate what would happen if the
|
every instruction and attempts to simulate what would happen if the
|
application were running on real hardware. This involves a lot of
|
application were running on real hardware. This involves a lot of
|
processing overhead, but depending on the functionality provided by
|
processing overhead, but depending on the functionality provided by
|
the simulator it can give very accurate results. When developing for
|
the simulator it can give very accurate results. When developing for
|
the synthetic target the executable is compiled for the PC's own
|
the synthetic target the executable is compiled for the PC's own
|
processor and will be executed at full speed, with no need for a
|
processor and will be executed at full speed, with no need for a
|
simulator or special tools. This will be much faster and somewhat
|
simulator or special tools. This will be much faster and somewhat
|
simpler than using an architectural simulator, but no attempt is made
|
simpler than using an architectural simulator, but no attempt is made
|
to accurately match the behaviour of a real embedded target.
|
to accurately match the behaviour of a real embedded target.
|
</P
|
</P
|
></DIV
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></DIV
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><TD
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><TD
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WIDTH="33%"
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WIDTH="33%"
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ALIGN="left"
|
ALIGN="left"
|
VALIGN="top"
|
VALIGN="top"
|
><A
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><A
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HREF="hal-synth-arch.html"
|
HREF="hal-synth-arch.html"
|
ACCESSKEY="P"
|
ACCESSKEY="P"
|
>Prev</A
|
>Prev</A
|
></TD
|
></TD
|
><TD
|
><TD
|
WIDTH="34%"
|
WIDTH="34%"
|
ALIGN="center"
|
ALIGN="center"
|
VALIGN="top"
|
VALIGN="top"
|
><A
|
><A
|
HREF="hal-synth-arch.html"
|
HREF="hal-synth-arch.html"
|
ACCESSKEY="H"
|
ACCESSKEY="H"
|
>Home</A
|
>Home</A
|
></TD
|
></TD
|
><TD
|
><TD
|
WIDTH="33%"
|
WIDTH="33%"
|
ALIGN="right"
|
ALIGN="right"
|
VALIGN="top"
|
VALIGN="top"
|
><A
|
><A
|
HREF="synth-install.html"
|
HREF="synth-install.html"
|
ACCESSKEY="N"
|
ACCESSKEY="N"
|
>Next</A
|
>Next</A
|
></TD
|
></TD
|
></TR
|
></TR
|
><TR
|
><TR
|
><TD
|
><TD
|
WIDTH="33%"
|
WIDTH="33%"
|
ALIGN="left"
|
ALIGN="left"
|
VALIGN="top"
|
VALIGN="top"
|
>eCos Synthetic Target</TD
|
>eCos Synthetic Target</TD
|
><TD
|
><TD
|
WIDTH="34%"
|
WIDTH="34%"
|
ALIGN="center"
|
ALIGN="center"
|
VALIGN="top"
|
VALIGN="top"
|
> </TD
|
> </TD
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><TD
|
><TD
|
WIDTH="33%"
|
WIDTH="33%"
|
ALIGN="right"
|
ALIGN="right"
|
VALIGN="top"
|
VALIGN="top"
|
>Installation</TD
|
>Installation</TD
|
></TR
|
></TR
|
></TABLE
|
></TABLE
|
></DIV
|
></DIV
|
></BODY
|
></BODY
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></HTML
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></HTML
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