_        _           _
     _ __ (_)_ __  (_) __ _ ___| |_ ___  _ __ _ __ ___  ___
    | '_ \| | '_ \ | |/ _` / __| __/ _ \| '__| '_ ` _ \/ __|
    | | | | | | | || | (_| \__ \ || (_) | |  | | | | | \__ \
    |_| |_|_|_| |_|/ |\__,_|___/\__\___/|_|  |_| |_| |_|___/
                 |__/


 Created by the Operating Systems and Middleware Group at Hasso
             Plattner Institute Potsdam, Germany.

Introduction

NinjaStorms is an attempt to create a simple RealTime Operating System which is currently running on Lego Mindstorms EV3 and a virtual environment. This fork aims to add the required functionality for a TCP/IP stack.

Building from Source

ninjastorms uses standard autotools to manage the build process. to configure the sources, you need to execute the configure script. If you checked out the sources from the repository, or there is no configure script present for any other reason, you can generate it by executing

./autogen.sh

To configure the project, execute

./configure --host=<host> BOARD=<board> CFLAGS="-nostdlib -nostartfiles -ffreestanding"

where host is the appropriate host triplet for the target architecture, for example arm-none-eabi for the EV3 or the qemu environments and board is a supported board. See Supported Boards for the board specific configure command.

Building the project requires a host prefixed toolchain capable of generating executables for your target architecture. To generate a host prefixed toolchain, in case your distribution does not provide one, see the generate-toolchain project. Assuming a working toolchain for your architecture and a configured source tree, the project is built by executing

make

When the build completes, the kernel binary can be found in the source tree as a file named ninjastorms. See Supported Boards for the deployment process of the built kernel.

Supported Boards

ninjastorms is currently supported on the following target boards. If your favourite platform is missing, feel free to port the system and send us a pull request!

ev3 - Lego Mindstorms EV3

• target platform: arm-none-eabi
• deployment process: TODO

versatilepb - embedded arm virtualization using qemu

• target platform: arm-none-eabi

• requirements:

  • Arch: qemu qemu-arch-extra arm-none-eabi-newlib arm-none-eabi-gcc arm-none-eabi-binutils
  • Ubuntu: gcc-arm-none-eabi binutils-arm-none-eabi gdb-multiarch openocd autoconf automate libtool u-boot-tools qemu
  • Debian: gcc-arm-none-eabi binutils-arm-none-eabi gdb-arm-none-eabi openocd autoconf automate libtool u-boot-tools qemu
  • feel free to add the requirements for other operating systems here

• configuration: configure ninjastorms for qemu virtual deployment with

    ./configure --host=arm-none-eabi BOARD=versatilepb CFLAGS="-nostdlib -nostartfiles -ffreestanding -mcpu=ARM926EJ-s"
  

• deployment process: execute the built kerenel directly with

    qemu-system-arm -M versatilepb -m 128M -nographic -kernel ninjastorms
  

  The hardware access to the device periphery will fail silently, but the kernel output will still be shown.

Further Reading

The kernel entry point is the kernel_main function in kernel/main.c - this should be a good place to start reading into the source code.

We also collected information on the different supported boards in the hardware-docs project.

Additional documentation can be found here: ninjastorms github wiki.