Software Development Environment
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1 Software Development Environment Zynq 14.2 Version This material exempt per Department of Commerce license exception TSU
2 Objectives After completing this module, you will be able to: Understand the basic concepts of the Eclipse IDE in SDK List SDK features Identify the GNU tools functionality List steps in creating a software application State when address management is needed Describe the object file sections Describe what a linker script does Software Development Environment 21-2
3 Outline Introduction SDK Development Environment SDK Project Creation GNU Development Tools: GCC, AS, LD, Binutils Software Settings Software Platform Settings Compiler Settings Address Management Object File Sections Linker Script Summary Software Development Environment 21-3
4 Desktop versus Embedded Desktop development: written, debugged, and run on the same machine OS loads the program into the memory when the program has been requested to run Address resolution takes place at the time of loading by a program called the loader The loader is included in the OS The programmer glues into one executable file called ELF Boot code, application code, RTOS, and ISRs Address resolution takes place during the gluing stage The executable file is downloaded into the target system through different methods Ethernet, serial, JTAG, BDM, ROM programmer Software Development Environment 21-4
5 Embedded versus Desktop Development takes place on one machine (host) and is downloaded to the embedded system (target) Host Computer JTAG Target Computer UART A cross-compiler is run on the host Software Development Environment 21-5
6 Embedded Development Different set of problems Unique hardware for every design Reliability Real-time response requirement (sometimes) RTOS versus OS Code compactness High-level languages and assembly Software Development Environment 21-6
7 Software Development Tools Software Development Environment 21-7
8 Outline Introduction SDK Development Environment SDK Project Creation GNU Development Tools: GCC, AS, LD, Binutils Software Settings Software Platform Settings Compiler Settings Address Management Object File Sections Linker Script Summary Software Development Environment 21-8
9 SDK Application Development Flow Software Development Environment 21-9
10 Eclipse/CDT Frameworks of SDK Builder framework Compiles and Links Source files Default Build options are specified when application is created: Choice of Debug, Release, Profile configurations User can custom build options later when developing application Build types: Standard Make, Managed Make Launch framework Specifies what action needs to be taken: Run (+ Profile) application or Debug application In SDK, this is akin to the Target Connection settings Debug framework Launches debugger(gdb), loads application and begins debug session Debug views show information about state of debug session Search framework Helps development of application Help System Online help system; context-sensitive Software Development Environment 21-10
11 Workspaces and Perspectives Workspace Location to store preferences & internal info about projects Transparent to users Source files not stored under Workspace Views, Editors Basic user interface element Perspectives Collection of functionally related views Layout of views in a perspective can be customized according to user preference Software Development Environment 21-11
12 Views Eclipse Platform views: Navigator view, Tasks view, Problems view Debug views: Stack view, Variables view C/C++ views: Projects view, Outline view Software Development Environment 21-12
13 C/C++ Project View Hierarchical list of the workspace projects in a hierarchical format Double-click to open a file Right-click the project to access its properties Software Applications Software BSP Hardware Description Software Applications Software Development Environment 21-13
14 Outline View Displays an outline of the structured file that is currently open in the editor The contents of the outline view are editor specific Content type is indicated by the icon For a C source, icons represent #define statements Include files Function calls Declarations Selecting a symbol will navigate to the same in the editor window Software Development Environment 21-14
15 C/C++ Perspective C/C++ project outline displays the elements of a project with file decorators (icons) for easy identification C/C++ editor for integrated software creation Code outline displays elements of the software file under development with file decorators (icons) for easy identification Problems, Console, Properties view lists output information associated with the software development flow Project Outline Editor View Code Outline Console Software Development Environment 21-15
16 Opening Perspectives and Views To open a Perspective, use Window Open Perspective To open a view, use Window Show View If the view is already present in the current perspective, the view is highlighted Software Development Environment 21-16
17 Editor bracket matching syntax coloring content assist refactoring keyboard shortcuts Software Development Environment 21-17
18 Outline Introduction SDK Development Environment SDK Project Creation GNU Development Tools: GCC, AS, LD, Binutils Software Settings Software Platform Settings Compiler Settings Address Management Object File Sections Linker Script Summary Software Development Environment 21-18
19 Launching SDK Launch SDK In XPS, Project > Export Hardware Design to SDK In PlanAhead, File> Export > Export Hardware for SDK A hardware image XML file is first generated A hardware platform specification project is then automatically created The software application then can be developed and associated Software Development Environment 21-19
20 Creating a Board Support Package If using standard project template of SDK then this step may be skipped as it is automatically created by SDK BSP must be created for the non-standard application project In SDK, File > New > Xilinx Board Support Package Select appropriate OS support Third-party operating systems are supported with the appropriate BSP selection Select required libraries support The Board Support Package provides software services based on the processor and peripherals that make up the processor system Software Development Environment 21-20
21 Creating a Software Application Project SDK supports multiple software application projects A software project is attached to a BSP project Sample applications are provided Great for quick test of hardware Starting point to base your own application on Typically an Empty Application is opened to begin a non-standard project Software Development Environment 21-21
22 Directory Structure SDK projects are place in the application directory that was specified when SDK was launched Each project may have multiple directories for system files and configurations Configurations are property tool option permutations of the software application. Each configuration has project properties set depending on needs. An ELF file is generated for each Release configuration Debug configuration Profile configuration A Debug configuration is created by default Software Development Environment 21-22
23 Outline Introduction SDK Development Environment SDK Project Creation GNU Development Tools: GCC, AS, LD, Binutils Software Settings Software Platform Settings Compiler Settings Address Management Object File Sections Linker Script Summary Software Development Environment 21-23
24 Do it in SDK EDK Tool Flow (SDK) Library Generation MSS MHS Hardware Platform Generation CompXLib IP Library or User Repository IP Models ISE Models EDK SW Libraries LibGen Drivers, MDD MPD, PAO PlatGen SimGen.a Libraries, OS, MLD Pcore HDL System and Wrapper VHD system.bmm Behavioral VHD Model Embedded Software Development Synthesis (XST) NGC Application Source.c,.h,.s UCF NGDBuild ISE Tools SimGen Linker Script Compiler (GCC).o,.a Linker (GCC) NGD MAP, PAR NCD Structural VHD Model system_bd.bmm BitGen SimGen ELF BITINIT system.bit XMD, GDB download.bit impact Timing VHD Model Simulation Simulation Generator JTAG Cable FPGA Software Development Environment 21-24
25 GNU Tools: GCC GCC translates C source code into assembly language GCC also functions as the user interface to the GNU assembler and to the GNU linker, calling the assembler and the linker with the appropriate parameters Supported cross-compilers: GNU GCC (arm-xilinx-eabi-gcc) Command line only; uses the settings set through the GUI Software Development Environment 21-25
26 GNU Tools: GCC Calls four different executables Preprocessor (cpp0) Replaces all macros with definitions defined in the source and header files Language specific c-compiler cc1 C-programming language cc1plus C++ language Assembler arm-xilinx-eabi-as Linker arm-xilinx-eabi-ld arm-xilinx-eabi-as arm-xilinx-eabi-ld Software Development Environment 21-26
27 GNU Tools: AS Input: Assembly language files File extension:.s Output: Object code File extension:.o Contains Assembled piece of code Constant data External references Debugging information Typically, the compiler automatically calls the assembler Use the -Wa switch if the source files are assembly only and want to use the gcc Software Development Environment 21-27
28 GNU Tools: LD Inputs: Several object files Archived object files (library) Linker script (mapfile) Output: Executable image (.ELF) Map file Software Development Environment 21-28
29 GNU Utilities AR Archiver Create, modify, and extract from libraries Used in EDK to combine the object files of the Board Support Package (BSP) in a library Used in EDK to extract object files from different libraries Object Dump Display information from object files and executables Header information, memory map Data Disassemble code Software Development Environment 21-29
30 Object Dump Display summary information from the section headers arm-xilinx-eabi-objdump h executable.elf Section Name Byte alignment Section Size Virtual Memory Address Loadable Memory Address Offset from the beginning of the section header table Software Development Environment 21-30
31 Object Dump Dumping the source and assembly code arm-xilinx-eabi-objdump S executable.elf Memory location C code instruction Machine Language Instruction Assembly instruction Software Development Environment 21-31
32 Outline Introduction SDK Development Environment SDK Project Creation GNU Development Tools: GCC, AS, LD, Binutils Software Settings Software Platform Settings Compiler Settings Address Management Object File Sections Linker Script Summary Software Development Environment 21-32
33 Minimal Required Services C language standard services C language construct services stdin and stdout Math library malloc Processor support requires these services Interrupt Cache Language environment support Software Development Environment 21-33
34 Operating Systems Operating systems are a collection of software routines that comprise a unified and standard set of system services The Standalone option is used when no operating system is desired Provides a minimal amount of processor and library services as previously illustrated Can be considered a minimal, non-standard operating system Installed as a software platform Variety of third-party operating systems are available Linux many flavors RTOS real-time operating system; also has many flavors; Free RTOS (an option for the Cortex - A9 processor) XilKernel provided by Xilinx; small and simple; only for MB Operating systems are installed and become part of the Board Support Package (BSP) Software Development Environment 21-34
35 What an Operating System Provides? Operating system services GUI support TCP/IP services** Task management Resource management** Familiar programming services and tasks Easy connection to already written applications Ability to reload and change applications Full file system services** ** Also available as additions to the Standalone BSP Software Development Environment 21-35
36 Do I Need an Operating System? The Standalone BSP includes the previously discussed items Design considerations for systems using the Standalone BSP All services needed are included in the BSP The application is static it never changes The application fits in block RAM (MicroBlaze processor), OCM RAM (Zynq AP SoC), or DDR memory The application is single-task based Interrupts may or may not be used Software Development Environment 21-36
37 Accessing Software Platform Properties Select the created board support package in the Project Explorer view Xilinx Tools > Board Support Package Settings Sets all of the software BSP related options in the design Has multiple forms selection Overview Standalone Drivers CPU As individual Standalone services are selected a configurable menu selection item will appear Software Development Environment 21-37
38 Do it in SDK EDK Tool Flow (SDK) Library Generation MSS MHS Hardware Platform Generation CompXLib IP Library or User Repository IP Models ISE Models EDK SW Libraries LibGen Drivers, MDD MPD, PAO PlatGen SimGen.a Libraries, OS, MLD Pcore HDL System and Wrapper VHD system.bmm Behavioral VHD Model Embedded Software Development Synthesis (XST) NGC Application Source.c,.h,.s UCF NGDBuild ISE Tools SimGen NGD Compiler (GCC).o,.a MAP, PAR Structural VHD Model Linker Script Linker (GCC) NCD system_bd.bmm BitGen SimGen ELF BITINIT system.bit XMD, GDB download.bit impact Timing VHD Model Simulation Simulation Generator JTAG Cable FPGA Software Development Environment 21-38
39 Library Generation Flow (in SDK) Library Generator LibGen Input files MSS Output files libc.a, libxil.a, libm.a LibGen is generally the first tool run to configure libraries and device drivers The MSS file defines the drivers associated with peripherals, standard input/output devices, and other related software features LibGen configures libraries and drivers with this information and produces an archive of object files: libc.a - Standard C library libxil.a - Xilinx library libm.a - Math functions library Software Development Environment 21-39
40 Outline Introduction SDK Development Environment SDK Project Creation GNU Development Tools: GCC, AS, LD, Binutils Software Settings Software Platform Settings Compiler Settings Address Management Object File Sections Linker Script Summary Software Development Environment 21-40
41 C/C++ Build Settings Right-click the top level of an application project and select C/C++ Build Settings Most-accessed properties are in the C/C++ Build panel Settings tab Each configuration has its own properties Set options for this configuration Tool settings for assembler, compiler, and linker Software Development Environment 21-41
42 Debug/Optimization Properties Compiler optimization level None Low Medium High Size Optimized Enable debug symbols in executable Necessary for debugging Set optimization level to none if possible Software Development Environment 21-42
43 Miscellaneous Compiler Properties Define symbols for conditional compiling Add Delete Edit References C source #ifdef symbol conditional statements #endif Passed to compiler as D option Other compiler options are available Add, Delete, Edit Icons Software Development Environment 21-43
44 Linker Properties The Root panel displays properties for the selected configuration Shown are the linker options for the Debug configuration Default settings are fine for simple applications Software Development Environment 21-44
45 Outline Introduction SDK Development Environment SDK Project Creation GNU Development Tools: GCC, AS, LD, Binutils Software Settings Software Platform Settings Compiler Settings Address Management Object File Sections Linker Script Summary Software Development Environment 21-45
46 Address Management Embedded processor design requires you to manage the following: Address map for the peripherals Location of the application code in the memory space Block RAM External memory (Flash, DDR3, SRAM) Memory requirements for your programs are based on the following: The amount of memory required for storing the instructions The amount of memory required for storing the data associated with the program Software Development Environment 21-46
47 Standard ARM Programming Model Processing system and programmable logic look the same AMBA and AXI interfaces Memory-mapped I/O Register access Consistency for PS and PL = ease of use Memory map usage: total of 4 GB 1 GB: DDR RAM 2 GB: dedicated to PL peripherals 1 GB: PS peripherals, OCM, external flash Software Development Environment 21-47
48 Programmer s View of Programmable Logic Programmable logic (PL) memory map 2 GB total space 1 GB for each AXI master: GP0, and GP1 Accessible from any processing system (PS) master Either Cortex-A9 CPU PS DMA engine PS peripheral DMA engine Ethernet USB SD/SDIO Custom Peripheral Code Snippet Software Development Environment 21-48
49 Address Map: I/O Peripherals (Zynq AP SoC) Software Development Environment 21-49
50 Address Map: SLCR Registers (Zynq AP SoC) Software Development Environment 21-50
51 Address Map: PS Registers (Zynq AP SoC) Software Development Environment 21-51
52 Address Map: CPU Private Bus Registers Software Development Environment 21-52
53 Outline Introduction SDK Development Environment SDK Project Creation GNU Development Tools: GCC, AS, LD, Binutils Software Settings Software Platform Settings Compiler Settings Address Management Object File Sections Linker Script Summary Software Development Environment 21-53
54 Object File Sections What is an object file? An object file is an assembled piece of code Machine language: li r31,0 = 0x3BE Constant data There may be references to external objects that are defined elsewhere This file may contain debugging information Software Development Environment 21-54
55 Object File Sections Sectional layout of an object or an executable file.text.rodata.sdata2.sbss2.data.sdata.sbss.bss Text section Read-only data section Small read-only data section (less than eight bytes) Small read-only uninitialized data section Read-write data section Small read-write data section Small uninitialized data section Uninitialized data section Software Development Environment 21-55
56 Sections Example int ram_data[10] = {0,1,2,3,4,5,6,7,8,9}; /* DATA */ const int rom_data[10] = {9,8,7,6,5,4,3,2,1}; /* RODATA */ int I; /* BSS */ main(){... I = I + 10; /* TEXT */... } Software Development Environment 21-56
57 Object File Sections Reserved sections that you typically would not modify.init.fini.ctors.dtors.got.got2.eh_frame Language initialization code Language cleanup code List of functions to be invoked at program startup List of functions to be invoked at program end Pointers to program data Pointers to program data Frame unwind information for exception handling Software Development Environment 21-57
58 Outline Introduction SDK Development Environment SDK Project Creation GNU Development Tools: GCC, AS, LD, Binutils Software Settings Software Platform Settings Compiler Settings Address Management Object File Sections Linker Script Summary Software Development Environment 21-58
59 Linker Script Linker script controls the linking process Map the code and data to a specified memory space Set the entry point to the executable Reserve space for the stack Required if the design contains a discontinuous memory space Software Development Environment 21-59
60 Linker and Locator Flows foo1.o.text1 Merged Output Sections 0xFFFF Executable Image Code.data1.bss1 Link.text.data Locate 0xF000 0xEFFF uninitialized data 0xEF00 foo2.o.text2.data2.bss2.bss 0xEEFF 0x2000 0x1FFF 0x0000 Unused Initialized data Software Development Environment 21-60
61 Linker Script Generator GUI Table-based GUI allows you to define the memory space for code and data sections Launch from Xilinx Tools > Generate Linker Script, or from the C/C++ perspective, right-click on <project> > Generate Linker Script The tool will create a new linker script (the old script is backed up) Software Development Environment 21-61
62 Outline Introduction SDK Development Environment SDK Project Creation GNU Development Tools: GCC, AS, LD, Binutils Software Settings Software Platform Settings Compiler Settings Address Management Object File Sections Linker Script Summary Software Development Environment 21-62
63 Summary Software development for an embedded system in FPGA imposes unique challenges due to unique hardware platform SDK provides many rich perspectives which enable ease of accessing information through related views GNU tools are used for compiling C/C++ source files, linking, creating executable output, and debugging Software platform settings allow inclusion of software library support Compiler settings provide switches including compiling, linking, debugging, and profiling Software Development Environment 21-63
64 Summary Embedded processor design requires you to manage Peripheral address space Memory address space to store data and instructions Internal block memory External memory Linker script is required when the software segments do not reside in a contiguous memory space Software Development Environment 21-64
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