MaRTE OS
                             ----------

        Minimal Real Time Operating System for Embedded Applications
                       Version 2.0 - Feb 2017

         Copyright (C) 2000-2017  Universidad de Cantabria, SPAIN

         Authors: Mario Aldea Rivas         aldeam@unican.es
                  Michael Gonzalez Harbour     mgh@unican.es


              MaRTE for RPi specific installation notes
             ===========================================

This document provides specific installation notes for the
installation of MaRTE OS for the Raspberry Pi. It is and amendment to
the INSTALL document. If installing MaRTE for Raspberry Pi you should
read both documents in parallel.

Installation
============

0) Installing AdaCore ARM GNAT compiler

   Proceed as explained in INSTALL (section "Installation.0") to
   install the native AdaCore GNAT compiler.

   Install the AdaCore GNAT compiler for ARM (labeled as "ARM ELF
   format (hosted on Linux)") from https://libre.adacore.com/
   (gnat-gpl-2016-arm-elf-linux-bin.tar.gz). (On Ubuntu this compiler
   requires ia32-libs to work on a 64-bit system).

   Add the binaries directory to your PATH environment variable.

0.1) Installing in a 32-bits Linux host

   You can install MaRTE for RPi in a 32-bits Linux. In such case the
   native AdaCore compiler will not work since it is only for 64-bits
   Linux (although you have to install it anyway). In consequence you
   will need another native GNAT compiler. For example, in Debian
   based Linux you can install the GNAT package, i.e:

   $ sudo apt-get install gnat-4.8

   Return to the INSTALL document section "Installation.1".

1) Installing MaRTE OS

   Proceed as explained in INSTALL (section "Installation.1").

2) Check your installation with an example

   Proceed as explained in INSTALL (section "Installation.2").

   mg++ is not available for RPi yet.
  
3) Running the application

   The a.out (and the a.out.img) we just built in the previous section
   can be run in a Raspberry Pi 1 Model B computer or in an emulator
   (QEMU).

3.1) Running the application in QEMU

   The emulator we have used is a QEMU modification for Raspberry Pi
   that can be found in https://github.com/Torlus/qemu and in the
   MaRTE OS web page (downloads section).

   In order to run a MaRTE OS for RPi application in the
   aforementioned modified QEMU use the following command:

   $ qemu-system-arm -kernel a.out -cpu arm1176 -m 256 -M raspi -serial stdio

3.2) Running the application in the Raspberry Pi

   We use operating system installer NOOBS in our SD card.

   To create a bootable SD card plug it in your host computer. Use the
   following command to know its mounting point:

   # df

   (From this point on, lets assume the SD card is mounted in /dev/sdb1)

   Unmount the device:

   # umount /dev/sdb1

   Format the SD card (FAT 32):

   # mkdosfs -F 32 -v /dev/sdb1

   (Be sure that your card only has one partition. To avoid problems
   it is probably better to use gparted instead of these commands to
   format your SD card)

   Download the last NOOBS version and unzip it:

   # wget http://downloads.raspberrypi.org/NOOBS latest
   # unzip NOOBS_vx_y_z.zip -d noobs/

   Copy NOOBS to the SD card (assuming it is mounted in /media/sd):

   # cp -r noobs/* /media/sd/

   At this point you have a SD card that will boot the
   /media/sd/boot/kernel.img file. You should replace this file with
   the a.out.img you make in section "Installation.2":

   # cp a.out.img /media/sd/boot/kernel.img

   Plug the SD card in the Raspberry Pi and connect the power USB
   wire. Chose the Raspbian entry in the NOOBS menu in order to run
   your application.

   By default MaRTE uses the UART as console. You can use the HDMI
   console as explained in the section "HDMI Console" in this
   document.

4) Debugging the application

   If you are using the QEMU emulator as a target you can use its
   built-in debugging capabilities:

   $ qemu-system-arm -kernel a.out -cpu arm1176 -m 256 -M raspi -serial stdio -s -S

   $ arm-eabi-gdb a.out
   (gdb) target remote localhost:1234
   (gdb) break main
   (gdb) cont


HDMI Console
============

By default MaRTE OS uses the serial port as console. If you prefer to
use the HDMI console edit kernel/marte-direct_io.ads, comment out
every reference to the "uart_simple_*" functions and uncomment
references to "hdmi_console_*".

Edit rpi_arch/hwi/hdmi_console.c and make sure the HDMI console is not
disabled (Line "#define DISABLE_HDMI_CONSOLE 0" must be commented
out).

Recompile MaRTE kernel:

   $ mkmarte

Recompile your application (for example hello_world_c.c) and run it
again (in the QEMU or in the Raspberry Pi).