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README
GPL-2.0

MKRTOS 是什么

  • MKRTOS 全称是 Micro-Kernel Real-Time Operating System,中文名字是微内核实时操作系统。MKRTOS是首款支持MCU的真微内核开源操作系统,内核只包含thread、task、内存管理等功能,其它文件系统、驱动等都在用户态实现,用户态支持应用程序动态加载,同时兼容 Posix 标准的操作系统,适用于各类嵌入式场合。MKRTOS架构图如下: image

MKRTOS 的目标

    1. Real microkernel design, with high stability, high anti-failure design, suitable for industrial control, Internet of things and other fields.
    1. Out of the box, supports multiple platforms.
    1. Porting is convenient and fast, the kernel only needs 2 driver support (serial port and systick).
    1. Simple design, support for multi-process (MPU process protection), multi-threading, support for MCU.
    1. RTOS design, high real-time performance.
    1. User mode drivers, which are also applications.

MKRTOS支持的处理器架构

处理器架构 支持的板子 进度
Cortex-m3 renode/stm32f103,qemu/stm32f2 done
Cortex-m4 renode/stm32f4 done
Cortex-m33 swm34s done
ARMv8 Qemu done
risc-v Qemu X

设计原则

  • 1.服务间数据交互不经过第三方组件。
  • 2.服务间最简接口原则。
  • 3.内核最小功能原则。
  • 4.微内核设计。

MKRTOS 模块支持

已完成

  • 1.处理器:默认支持 Cortex-M3 处理器、未来会支持更多
  • 2.进程间通信,采用同步通信机制,内核不缓存任何数据。
  • 3.内核只需要支持systick以及串口即可启动系统。
  • 4.内核采用C语言编写,并使用面向对象的编程方式,功能均被抽象为内核对象。
  • 5.内核支持对象:线程对象、进程对象、工厂对象、内存管理对象、Log对象,IPC对象,Futex对象。
  • 4.多线程:支持多线程管理,线程与task分离,设计跟合理。
  • 5.多进程(MPU实现进程隔离):支持内存空间与对象空间,进程只管理资源。
  • 6.irq对象支持,用于内核中断转发到用户态。
  • 7.可执行文件:支持bin可执行文件。
  • 8.musl libc库支持。
  • 9.init进程、process manager支持、path manager支持
  • 10.shell服务
  • 11.kconfig支持。
  • 12.文件系统服务支持(暂时支持fatfs文件系统)。
  • 13.Cortex-m4支持,硬件浮点支持。

正在做

  • 1.完善内核.
  • 2.drv manager服务
  • 3.Ext、LittleFs系列文件系统支持

未来支持

  • 1.Cortex-M其它系列处理器、RISC-V,龙芯支持。
  • 2.多核MCU支持
  • 3.虚拟化支持
  • 4.支持MMU实现进程隔离。

MKRTOS 用户态生态正在做

  • 1.toybox常用命令支持
  • 2.ota支持
  • 3.ymodem支持
  • 4.GUI支持。
  • 5.lwip支持。
  • 6.modubs支持。
  • 7.can通信协议支持。
  • 8.AT协议支持。
  • 9.其它。

怎么使用?

  • 工程采用CMake进行管理,并在Linux下进行开发,建议使用Ubuntu18.04开发。
  • GCC编译器采用gcc-arm-none-eabi-5_4-2016q3,也可以使用新版本进行开发。
  • Qemu模拟STM32F2,老版本的Qemu对coretx-m3的模拟存在bug,请使用最新版本Qemu8.0及以上。 使用步骤:
  1. 安装CMake
sudo apt install cmake
  1. 安装ninja
sudo apt update
sudo apt install ninja-build
sudo apt install cpio srecord
sudo apt install python3
sudo apt install srecord
  1. 下载gcc
  • 直接使用ubuntu命令安装的gcc arm会没有gdb,可以直接到我给定的仓库下载
https://gitee.com/IsYourGod/mkrtos-tools.git
64位系统使用32位gcc,需要安装
sudo apt install libc6-i386
  1. Qemu
  • 1.Qemu可以直接下载官方的进行编译
  • 2.也可以从我给定的链接下载
https://gitee.com/IsYourGod/mkrtos-tools.git
  1. 修改build.sh脚本中GCC路径和GCC库路径
export TOOLCHAIN=/home/zhangzheng/gcc-arm-none-eabi-5_4-2016q3/bin/
export TOOLCHAIN_LIB=/home/zhangzheng/gcc-arm-none-eabi-5_4-2016q3/lib/gcc/arm-none-eabi/5.4.1/armv7-m
  1. 修改run.sh 和debug.sh中qemu的路径
qemu-system-arm -machine\
 	netduino2 -cpu cortex-m3 \
  	-nographic -m size=2\
   	-kernel $PWD/build/output/kernel.img \
    -S -gdb tcp::$1
  1. 执行run.sh 输出如下:
st:0x20000000 re:0xf sub:0x400
 region:[xxxxoooo]
st:0x20002000 re:0xf8 sub:0x400
 region:[oooxxxxx]
task alloc size is 6720, base is 0x20001000
exc_regs:8010001 20001db8 20001000
mkrtos init done..
mkrtos running..
 _____ ______   ___  __    ________  _________  ________  ________      
|\   _ \  _   \|\  \|\  \ |\   __  \|\___   ___\\   __  \|\   ____\     
\ \  \\\__\ \  \ \  \/  /|\ \  \|\  \|___ \  \_\ \  \|\  \ \  \___|_    
 \ \  \\|__| \  \ \   ___  \ \   _  _\   \ \  \ \ \  \\\  \ \_____  \   
  \ \  \    \ \  \ \  \\ \  \ \  \\  \|   \ \  \ \ \  \\\  \|____|\  \  
   \ \__\    \ \__\ \__\\ \__\ \__\\ _\    \ \__\ \ \_______\____\_\  \ 
    \|__|     \|__|\|__| \|__|\|__|\|__|    \|__|  \|_______|\_________\
                                                            \|_________|
Complie Time:Dec  2 2023 23:22:30
init..
ns svr init...
pm runing..
create thread 0x20002c00
exc_regs:8010b55 20001fb8 20001000
thread bind to 3
cons svr init...
fatfs addr is [0x8036048]
create task is 0x20002a5c
create thread 0x20003400
st:0x20000000 re:0x1 sub:0x8000
 region:[xooooooo]
st:0x20040000 re:0xff sub:0x8000
 region:[xxxxxxxx]
task alloc size is 140132, base is 0x20008000
thread bind to 12
exc_regs:8036049 20008d00 20008000
sh addr is [0x8076664]
create task is 0x20003b84
create thread 0x20004000
st:0x20004000 re:0x1 sub:0x800
 region:[xooooooo]
st:0x20008000 re:0xff sub:0x800
 region:[xxxxxxxx]
task alloc size is 9268, base is 0x20004800
thread bind to 14
exc_regs:8076665 20005f60 20004800
run app num is 2.
register svr, name is /mnt, hd is 16
register [/mnt] success.
mount success

mkrtos:/$ knl main run..

mkrtos:/$ 

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  • 提交一次代码,并联系我。
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简介

MKRTOS 是首款开源的支持MCU的微内核操作系统,支持动态加载app执行,多线程,进程隔离等功能。提供标准化的posix接口支持,未来还将在MCU上支持虚拟化。MKRTOS适用于对安全与稳定性要求较高的场合。 展开 收起
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