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https://github.com/TrampolineRTOS/trampoline

Trampoline is a static RTOS for small embedded systems. Its API is aligned with OSEK/VDX OS and AUTOSAR OS 4.2 standards.
https://github.com/TrampolineRTOS/trampoline

autosar osek-vdx rtos trampoline

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Trampoline is a static RTOS for small embedded systems. Its API is aligned with OSEK/VDX OS and AUTOSAR OS 4.2 standards.

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# Trampoline



Trampoline is a static RTOS for small embedded systems.

Its API is aligned with OSEK/VDX OS and AUTOSAR OS 4.2 standards.



8 platforms are supported by now :



* cortex

  * Cortex-M (M0+, M3 and M4 for now) instruction set

  * Cortex-A (A7) instruction set. This port is under heavy development.

  * Cortex-R (R52) instruction set.

* riscv

  * PULPino microprocessor with 32bits RISC-V instruction set.

* ppc: PowerPC 32bits instruction set

* posix: virtual platform for POSIX systems (tested on Linux and OS X)

* avr: AVR 8 bits microcontrollers

* ARM: ARM 32 bits instruction set

* virt-v7

  * Cortex-A9 - Cortex-A7 virtualized instruction set. This port is used with the hypervisor XVisor

* MSP430/CPUX which has been developed on MSP430FR5969 and MSP430FR5994 microcontrollers.

* rh850

  * Renesas G4MH instruction set.



And we welcome external contributors to extend this list.



Trampoline runs on the following platforms :



| MCU                          | Architecture       | Cores | Evaluation Board                                       |

|------------------------------|--------------------|:-----:|--------------------------------------------------------|

| Atmel ATMega328p             | 8-bit AVR          | 1     | Arduino Uno                                            |

| Atmel ATMega2560             | 8-bit AVR          | 1     | Arduino Mega                                           |

| Atmel SAM D21                | Cortex-M0+         | 1     | XPlainedPro                                            |

| Broadcom BCM2836             | Cortex-A7          | 4     | Raspberry Pi 2 Model B                                 |

| NXP LPC2294                  | ARM7               | 1     | Olimex LPC-L2294-1MB                                   |

| NXP / Freescale MK20DX256    | Cortex-M4          | 1     | Teensy31                                               |

| NXP / Freescale MPC564xL     | Power Architecture | 2     | XPC56XX EVB + XPC56XL MINI-MODULE                      |

| PULPino                      | RISC-V             | 1     | ZedBoard                                               |

| Renesas Spider CR52          | Cortex-R52         | 1     | Renesas R-Car S4 Spider                                |

| Renesas Spider G4MH          | RH850              | 1     | Renesas R-Car S4 Spider                                |

| STMicroelectronics STM32F4xx | Cortex-M4          | 1     | STM32F4DISCOVERY with STM32F407VG                      |

| STMicroelectronics STM32F30x | Cortex-M4          | 1     | Nucleo-32 STM32F303K8                                  |

| STMicroelectronics STM32L432 | Cortex-M4          | 1     | Nucleo-32 STM32L432KC                                  |

| MicroSemi SmartFusion2       | Cortex-M3          | 1     | starterKit                                             |

| MSP430FR5969, MSP430FR5994   | CPUX               | 1     | Launchpad MSP-EXP430FR5969, Launchpad MSP-EXP430FR5994 |



Some examples are available (check examples):



* Cortex M4 with µC stm32f407: `cortex-m/armv7em/stm32f407/stf32f4discovery`

  * **blink**. Blinks a LED using an alarm and a task.

  * **readButton**. The example polls the button to start an alarm that activates a task to blink a LED

  * **readButton_isr**. Same but the button triggers an ISR.

  * **alarms**. It is the same example than readButton_isr but we test the return value of SetRelAlarm for return parameters when in kernel (system call) mode.

  * **timer**. ISR2 trigered by timer TIM2.

* Cortex M4 with MCU stm32f303K8: `cortex-m/armv7em/stm32f303/Nucleo-32`. There are few differences from the `stm32f407` target, and examples should be easily imported.

  * **blink**. Blinks a LED using an alarm and a task.

* Cortex M4 with MCU stm32L432KC: `cortex-m/armv7em/stm32l432/Nucleo-32`.

  * **blink**. Blinks a LED using an alarm and a task.

  * **readButton**. The example polls the button to start an alarm that activates a task to blink a LED

  * **readButton_isr**. Same but the button triggers an ISR.

* Cortex M4 with µC mk20dx256 : `cortex-m/armv7em/mk20dx256/teensy31`

  * **blink**. Blinks the Teensy 3.1 LED using an alarm and a task.

  * **startStopBlink**. The example polls a button connected to pin 8 to start an alarm that activates a task to blink a LED.

  * **liquidCrystal**. startStopBlink extended. In addition the periodic task prints a value on a LCD.

  * **isr2onPIT**. Use the PIT channel 0 to trigger an ISR2.

  * **isr1onFTM**. Use the FTM0 to trigger an ISR1 and generate a variable width pulse.

* Cortex M3 with µC SmartFusion2: `cortex-m/armv7m/SmartFusion2`.

  * **blink**. a simple periodic example which toggles the two green leds (DS3, DS4) of the board

  * **fpgaInterrupt** an interrupt from the FPGA fabriq toggles the green led DS4 of the board (and a periodic task blinks another Led).

* Cortex M0+ with µC samd21: `cortex-m/armv6m/samd21/XPlainedPro`.

  * **blink**. Blinks a LED using an alarm and a task.

  * **readButton**. The example polls the button to start an alarm that activates a task to blink a LED

  * **readButton_isr**. Same but the button triggers an ISR.

* Cortex A7 with bcm2836 - Raspberry Pi 2 : `cortex-a-r/armv7/bcm2836/rpi2`.

  * **blink**. A first runable blink example is available. We need a bootloader and and a console. This stuff will be soon available as well. Single core for the moment.

* avr: 3 examples for Arduino Uno (ATMega328p chip) and Arduino Mega (ATMega2560 chip)

  * **blink**. Blinks a LED using an alarm and a task.

  * **serial**. improve 'blink': use the standard Arduino serial API.

  * **extInterrupt**. improve 'serial': add 2 ISRs to change the alarm period.

* arm: 1 example for Olimex lpc2294 board

  * **lonely**. Blinks a led, 3 tasks, ISR category 1 or 2, counts interrupts from the push button.

* ppc: 5 examples for MPC5643L

  * **blink_1c**. Blinks a LED using an alarm and a task.

  * **blink_1c_withOrti**. Blinks a LED using an alarm and a task. Creates an orti file.

  * **blink_2c**. Blinks two leds using two synchronized cores with one task and one alarm per core.

  * **blink_2c_arxml**. Same as the two cores blink example but uses an arxml config file.

  * **blink_2c_opticks**. Same as the two cores blink example but optimizes ticks.

  * **button_2c**. Waits for a button input to light a led. Switch it off using Timing Protection watchdog. Multicore example.

  * **spinlocks**. Producer/Consumer example.

* PULPino: `riscv/pulpino`

  * **blink**. Has two tasks who alternate outputting on UART interface.

* virt-v7:

  * **firmware**. Builds a firmware that can be used as a guest on XVisor.

* MSP430 CPUX, 4 examples for Launchpad MSP-EXP430FR5969 and for MSP-EXP430FR5994:

  * **blink**. blink LED2 with a 100ms period.

  * **readbutton**. blink LED2 with a 200ms period. Button S1 allows to start and stop the blinking.

  * **readbutton_isr1**.  blink LED2 with a 200ms period. Button S1 triggers an ISR1 that swtches LED1.

  * **readbutton_isr2**.  blink LED2 with a 200ms period. Button S1 triggers an ISR2 that swtches LED1.



More examples are coming.



## Precompiled binaries of goil, the OIL and ARXML compiler



Updated to version 3.1.16 on 2023, December 4.



* Mac OS X (Universal): [goil-mac-os-x-universal.zip](https://uncloud.univ-nantes.fr/index.php/s/gXN6za6qBGSSqby)

* Mac OS X (Apple Silicon): [goil-mac-os-x-silicon.zip](https://uncloud.univ-nantes.fr/index.php/s/DHxMzm47XRyatm2)

* Mac OS X (Intel)  : [goil-mac-os-x.zip](https://uncloud.univ-nantes.fr/index.php/s/xsrTrwk8bm5x4Kz)

* Linux 32 bits: [goil-linux-32.zip](https://uncloud.univ-nantes.fr/index.php/s/9kzNTz3KK6aogbX)

* Linux 64 bits: [goil-linux-64.zip](https://uncloud.univ-nantes.fr/index.php/s/n2bHana8SLo2CrG)

* Windows: [goil-windows.zip](https://uncloud.univ-nantes.fr/index.php/s/ZAyZ4ngSqCaa4wD)  (you may be warned of the presence of a virus)



Note: goil binaries for Mac OS X are not signed. You can either recompile goil from sources (script in `goil/makefile-macosx`) or self sign the binary (information [here](https://stackoverflow.com/questions/58356844/what-are-the-ways-or-technologies-to-sign-an-executable-application-file-in-mac))



* MD5 (goil-mac-os-x-universal.zip) = 68b8cad78cecd39b273728c1d4a99ea2

* MD5 (goil-mac-os-x-silicon.zip) = 9d7422f3cead9b40e37c062bc646e53c

* MD5 (goil-mac-os-x.zip) = 411a1c5999288c955e275619c8443261

* MD5 (goil-linux-32.zip) = 581a56202e35ae5551a3f9dce600179d

* MD5 (goil-linux-64.zip) = fe06a628abd5ea954048c26a3a2cbda7

* MD5 (goil-windows.zip) = 3bc9be1b6c053aa58437c957d5d174f9



## Useful links



* [ARM development tools](https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-rm) compiled for various platforms.



The OSEK-VDX portal is down since at least june 2017 because the working group has been disbanded in favor of AUTOSAR. Here are copies of a part of the documents that were available for download:



* [OIL specification](https://uncloud.univ-nantes.fr/index.php/s/zXE6YHjrXcysrE4)

* [OS specification](https://uncloud.univ-nantes.fr/index.php/s/KG6LYzra2paHNbS)

* [COM specification](https://uncloud.univ-nantes.fr/index.php/s/CppiWPmfyF3eKGS)

* [ORTI A](https://uncloud.univ-nantes.fr/index.php/s/x3w56pyGHoExnBp) and [ORTI B](https://uncloud.univ-nantes.fr/index.php/s/7QMCDeQLKgJQ8Xx) specifications

* [OS Test Plan](https://uncloud.univ-nantes.fr/index.php/s/cax2N6XSCex7fXx)

* [OS Test Procedure](https://uncloud.univ-nantes.fr/index.php/s/nWm9EqAdq3gkSr6)

* [COM Test Plan](https://uncloud.univ-nantes.fr/index.php/s/PTXAnj5L58aiWS9)

* [COM Test Procedure](https://uncloud.univ-nantes.fr/index.php/s/jqZEq7NByTczX5o)