XinuPi: Porting a Lightweight Educational Operating System to the Raspberry Pi
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1 XinuPi: Porting a Lightweight Educational Operating System to the Raspberry Pi Eric Biggers 1 Farzeen Harunani 2 Tyler Much 2 Dr. Dennis Brylow 2 1 Macalester College 2 Marquette University October 3, 2013
2 Outline Overview of Embedded Xinu and Raspberry Pi Goals and purpose of porting Embedded Xinu to the Raspberry Pi Challenges, hardware, and technical details Summary and future work
3 Overview of Embedded Xinu and the Raspberry Pi Embedded Xinu Small, simple framework for teaching embedded operating system design Nexos project (WESE 2008) Xest (WESE 2010) Raspberry Pi Inexpensive single-board computer Intended for educational use Figure : WRT54GL: One platform Embedded Xinu currently runs on Figure : Raspberry Pi Model B (Cost: $35)
4 Goals and Purpose Create functional Raspberry Pi port of Embedded Xinu to facilitate hands-on operating systems and embedded software curriculum Write documentation and educational modules Why Embedded Xinu? Why Raspberry Pi? Code written for students by students Demonstrated educational success (WCAE 07, SIGCSE 08, SPLASH 10, SIGCSE 11) Inexpensive Rich set of peripherals Popular (1 million+ sold) Strong community
5 Integration of embedded systems concepts throughout curriculum Concepts covered before the actual embedded systems course: Preemptive multitasking Programming in assembly language Hardware interrupts Resource-constrained programming Direct hardware communication Remote target software development Cross-architecture development Packet construction and transmission over real networks Marquette University s embedded systems course focuses on more advanced concepts with a variety of platforms
6 Overview of Raspberry Pi Hardware BCM2835 SoC CPU (ARM1176JZF-S) GPU (Broadcom VideoCore) Memory (256MB or 512MB) Various memory-mapped peripherals ARM1176JZF-S CPU Physical memory 0x0 0x x x ARM memory GPU memory... Peripherals memory System Timer... Interrupt Controller... Mailboxes... PL011 UART... USB Controller... Figure : Logical view of system from ARM CPU
7 Interrupt Controller (for CPU) Allows enabling and disabling specific IRQ lines IRQ line Device 1 System Timer (1) 3 System Timer (3) 9 USB Controller 55 PCM sound 57 PL011 UART 62 SD card +0x00 +0x04 +0x08 +0x0c +0x10 +0x14 +0x18 +0x1C +0x20 +0x24 Pending0 Pending1 Pending2 FIQControl Enable1 Enable2 Enable0 Disable1 Disable2 Disable0 Figure : BCM2835 interrupt controller (for CPU) registers
8 System Timer 64-bit 1 MHz free-running counter Four independent interrupts: one used by XinuPi, two reserved by GPU +0x00 +0x04 +0x08 +0x0c +0x10 +0x14 +0x18 CS CLO CHI C0 C1 C2 C3 Figure : BCM2835 system timer registers
9 USB (Universal Serial Bus) support Raspberry Pi relies on USB to attach keyboards, mice, and even the built-in Ethernet controller Raspberry Pi has nonstandard, undocumented USB Host Controller (made by Synopsys Inc.) Basic USB 2.0 support essentially complete Code is several thousand lines due to high complexity of USB, but still a fraction of Linux code size
10 Ethernet support Raspberry Pi Model B has integrated USB Ethernet Adapter (SMSC LAN9512) Device is not documented, so we had to gleam hardware details from the Linux driver Our driver for this is about 1 /4 the size of the corresponding Linux driver Operation: Packets are sent and received via USB bulk transfers Network Memory USB CPU USB Host Controller SMSC LAN9512
11 Graphics support BCM2835 includes integrated VideoCore GPU CPU and GPU initialize communication via hardware-based mailbox system, then share configurable depth RGBA linear framebuffer in memory GPU is very powerful but not well documented Framebuffer console and turtle-graphics application
12 Summary Goal: Port Embedded Xinu to Raspberry Pi Promising and viable platform for operating systems and embedded software education Completed work Future work Preemptive multitasking Basic USB support Networking support Network bootloader Basic graphics support Partial documentation Lesson plans Classroom trials beginning Spring 2014 Improved documentation Additional drivers (USB keyboard, sound, SD card)
13 Acknowledgments Marquette University MSCS REU Program National Science Foundation (funding from grant CNS-REU ) Raspberry Pi Foundation (for designing the Raspberry Pi)
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