Rust on Zephyr RTOS

Overview

Zephyr project template for building a cargo project and linking it into a Zephyr image.

Building and Running

Zephyr setup

Set up a Zephyr toolchain (e.g. Zephyr SDK)

wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v0.10.0/zephyr-sdk-0.10.0-setup.run
sh zephyr-sdk-0.10.0-setup.run

Add toolchain to ~/.zephyrrc. This is sourced by the Zephyr env script.

export ZEPHYR_TOOLCHAIN_VARIANT=zephyr
export ZEPHYR_SDK_INSTALL_DIR=<sdk installation directory>

Acquire Zephyr source, export ZEPHYR_BASE, and source the Zephyr env script.

git clone https://github.com/zephyrproject-rtos/zephyr.git $HOME/src/zephyr
export ZEPHYR_BASE=$HOME/src/zephyr
. $ZEPHYR_BASE/zephyr-env.sh

Rust toolchain

A nightly compiler is required to use unstable features that are unavoidable when implementing libstd. The nightly date is arbitrary, but needs to be locked so long as we are using rust-src from rustup. The interface between std and core is not stable so we need to look the version for build reproducibility.

rustup toolchain install nightly-2019-05-22
rustup default nightly-2019-05-22
rustup component add rustfmt
rustup component add rust-src
cargo install xargo

Also install clang. This is required by bindgen to generate syscall bindings. Else you will get this error

thread 'main' panicked at 'Unable to find libclang: "couldn\'t find any valid shared libraries matching: [\'libclang.so\', \'libclang-*.so\', \'libclang.so.*\']

Build

Build and run on QEMU (or posix native) as follows:

Native:

mkdir -p build-posix && cd build-posix
cmake -GNinja -DBOARD=native_posix ..

qemu_x86:

mkdir -p build-x86 && cd build-x86
cmake -GNinja -DBOARD=qemu_x86 ..

ARM Cortex-M:

mkdir -p build-arm && cd build-arm
cmake -GNinja -DBOARD=qemu_cortex_m3 ..

Build and run:

ninja run

Sample Output

SeaBIOS (version rel-1.12.0-0-ga698c8995f-prebuilt.qemu.org)
Booting from ROM..***** Booting Zephyr OS zephyr-v1.14.0-752-gfd97e44011f6 *****
Hello from Rust kernel with direct kernel call
Hello from Rust kernel with runtime-detect syscall
Entering user mode
Hello from Rust userspace with forced user-mode syscall
Hello from Rust userspace with runtime-detect syscall
Next call will crash if userspace is working.
***** CPU Page Fault (error code 0x00000004)
User thread read address 0x00408000
PDE: 0x027 Present, Writable, User, Execute Enabled
PTE: 0x800000002 Non-present, Writable, Supervisor, Execute Disable
Current thread ID = 0x00400060
eax: 0x00000048, ebx: 0x000086aa, ecx: 0x0000002b, edx: 0x00000064
esi: 0x000086da, edi: 0x004043e8, ebp: 0x004043ac, esp: 0x004043a0
eflags: 0x00000207 cs: 0x002b
call trace:
eip: 0x0000140b
     0x0000035d (0x86a9)
     Fatal fault in thread 0x00400060! Aborting.

Supported Architectures

native_posix
x86
armv7m

TODO

syscall bindings for inline functions in kernel mode
println
alloc
safe wrappers (threads, semaphores, etc.)

Complete

generate syscall bindings
split into zephyr-sys and zephyr crates

License

Licensed under either of

Apache License, Version 2.0 http://www.apache.org/licenses/LICENSE-2.0
MIT license http://opensource.org/licenses/MIT

at your option.

Contribution

Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.

srwalter/zephyr-rust