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README
Apache-2.0

Rust 开发树莓派操作系统教程


ℹ️ 介绍

该系列教程适用于 ARM64 位ARMv8-A 架构的业余操作系统开发者。该教程会从零开始,一步步地指导你如何开发一个功能健全的 嵌入式操作系统的内核。包含了实现一般操作系统的任务,例如开发串口控制台,设置虚拟内存和处理硬件异常。 同时利用 Rust 的特性来提供系统的安全和速度。

祝你玩得开心!

带上我最诚挚的问候,
Andre (@andre-richter)

📑 教程结构

  • 每篇教程都包含一个独立可引导的二进制内核文件。
  • 每篇新的教程都在之前的基础上扩展。
  • 每篇教程的指南里面都有一个简短的章节来总结新增的代码和功能,也会展示源代码的区别,方便检查和同步。
  • 部分教程中有除了tl;dr章节外还有非常详细、具体的介绍。长期计划是所有的教程都会有详细的文字说明。但是目前只有那些我认为教程的tl;drdiff还不够详细的章节会详细说明。
  • 教程中所用的代码可以在树莓派 3 和 4上运行。
    • 教程的第一到五章是基础内容,只能运行在QEMU上。
    • 到了[第六章]时(06_drivers_gpio_uart),你可以在树莓派上加载和运行内核并通过UART来观察输出结果。
  • 虽然这些教程是以树莓派 3 和 4 为试验对象,但代码是模块化的,所以应该容易移植到其他 CPU 架构的开发板上。
    • 我希望会有人有机会去实现RISC-V架构的代码。
  • 我推荐使用Visual Studio Code,配置Rust Analyzer插件开发代码。
  • 除了文本教程之外,也可以用make doc命令利用网页的优势来浏览代码。

make doc 的输出

make doc

🛠 系统要求

本教程主要是面向Linux发行版的。理论上,文中大部分内容在其他类Unix系统诸如macOS也能正常工作,但请注意,只是理论上。

🚀 tl;dr 版本

  1. 安装 Docker

  2. (仅限Linux) 确保您的用户帐户在 docker group 中。

  3. 准备Rust工具链。其中大部分将在首次使用时通过rust-toolchain.toml文件进行处理。我们要做的是:

    1. 如果你已经安装了一个版本的Rust:

      cargo install cargo-binutils rustfilt
    2. 如果你想要全新安装:

      curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
      
      source $HOME/.cargo/env
      cargo install cargo-binutils rustfilt
  4. 如果你使用 Visual Studio Code,我强烈推荐你安装Rust Analyzer 扩展

  5. (仅限macOS) 安装一些Ruby gems。

这是作者最后一次在macOS Monterey上用Ruby 3.0.2版本进行测试。如果您正在使用rbenv,那么相应的.ruby-version文件已经就位。 如果你从未听说过rbenv,请尝试使用这个指南

在存储库根文件夹中运行此操作:

bundle config set --local path '.vendor/bundle'
bundle config set --local without 'development'
bundle install

🧰 长期版本: 消除工具链烦恼

这个系列的教程会着重关注用户体验的友好性。因此,我尽量消除嵌入式开发中的最大痛点:Toolchain hassle

Rust内置的交叉编译支持在这方面帮了我们大忙。我们只需要使用rustup安装目标工具链就可以在x86宿主机上交叉编译支持树莓派的目标文件。然而,除了Rust编译器,我们还需要更多的工具。例如: Rust本身在这方面已经起到了很大的作用,因为它内置了对交叉编译的支持。从x86宿主机到树莓派的AArch64架构的交叉编译所需的一切都将由rustup自动安装。然而,除了Rust编译器,我们还将使用更多的工具。例如:

  • 用于在我们的宿主系统上模拟我们内核运行环境的QEMU
  • 一个叫Minipush的自制工具,可以通过UART将内核加载到树莓派上。
  • 用于调式目标文件的OpenOCDGDB

在你的宿主机上安装/编译正确版本的上述工具很可能会遇到很多麻烦。举个例子,你的发行版也许并不会提供我们需要的最新版本的软件包。又或者你在编译这些工具时会遇到一些很难处理的依赖问题。

这也是为什么我们要尽可能使用Docker的原因。我们提供了一个已经预装了所有需要的工具及依赖的容器,当需要的时候它就会被自动拉取。如果你想要了解更多有关Docker和这个容器的细节,请查看本仓库下的docker 文件夹。

📟 USB 串行输出

由于教程中开发的内核是在真实的硬件上运行的,因此强烈建议您使用 USB 串行调试线来进行试验。连接调试线后,树莓派需要通过额外电源供电。

  • 您可以在[1] [2]中或者淘宝上找到USB转串口线,但许多其他线材也可以工作。理想情况下,您的线材应基于CP2102芯片。
  • 您将其连接到GND和GPIO引脚14/15,如下所示。
  • 教程5是这个设备第一次需要使用的地方。查看它了解如何准备SD卡以从中启动自制内核的说明。
  • 教程6开始,在树莓派上启动内核变得非常舒适。在本教程中开发了一个所谓的chainloader,。 这将是您暂时需要在SD卡上手动复制的最后一个文件。这将使您能够在通过UART按需引导期间加载教程内核。

UART wiring diagram

🙌 致谢

这个教程最初是由Zoltan Baldaszti项目衍生出来的,感谢它给我开了一个头。

License

Licensed under either of

at your option.

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