Zephyr

RTOS Apache 2.0 2016

Zephyr 项目是Linux基金会托管的开源项目。为所有资源受限设备，构建了针对低功耗、小型内存微处理器设备而进行优化的物联网嵌入式小型、可扩展的实时操作系统（RTOS），支持多种硬件架构及多种开发板，可以在小至8 kB内存的系统上运行。 采用深入的安全开发生命周期：安全验证，模糊和渗透测试，频繁的代码审查，静态代码分析，威胁建模和审查，以防止代码中的后门 。

入门指南

• Zephyr and Nordic nRF52-DK: debugging, unit testing, project analysis

• Enabling PIO and Zephyr on custom hardware

工程结构

Warning

Zephyr framework currently requires Python 3.4 or later.

Zephyr framework requires an unusual project structure because most of the framework configuration is performed by the native for Zephyr build system called CMake.

Note

Since PIO is able to generate CMake-based projects for certain IDEs, Zephyr-related files are moved to a separate folder in order to avoid conflicts between project files. That requires users to specify relative paths to source files in CMakeLists.txt.

A typical PIO project for Zephyr framework must have the following structure:

project_dir
├── include
├── src
│    └── main.c
├── zephyr
│    ├── prj.conf
│    └── CMakeLists.txt
└── platformio.ini

Besides files related to PIO project, there is an additional folder zephyr that contains Zephyr-specific files CMakeLists.txt and prj.conf:

CMakeLists.txt file enables features supported by Zephyr’s build system, e.g. board-specific kernel configuration files. A typical CMakeLists.txt file has the following content:

# Boilerplate code, which pulls in the Zephyr build system.
cmake_minimum_required(VERSION 3.13.1)
include($ENV{ZEPHYR_BASE}/cmake/app/boilerplate.cmake NO_POLICY_SCOPE)
project(my_zephyr_app)

# Add your source file to the "app" target. This must come after the boilerplate
# code, which defines the target. Note relative path to source file
target_sources(app PRIVATE ../src/main.c)

The files specified in target_sources are used ONLY for generating build configurations, but it’s highly recommended to specify all application source files in order to keep the project compatible with the usual Zephyr workflow.

Due to the current limitations of CMake file-based API, there is no way to generate build configuration for source files written in various programming languages if they are not specified in target_sources command. If your project contains libraries written in languages that differ from the language used for the main application you need to create an empty file with desired extension (e.g. *.cpp for C++) in order to force CMake generate build configuration for this language.

Note

Build configuration generated for source files specified in target_sources is also used as the base build environment for project sources (including libraries).

prj.conf file sets application-specific values for one or more kernel configuration options. These application settings are merged with board-specific settings to produce a kernel configuration.

设备树堆叠

Device Tree Overlays DTO

Zephyr applications can use overlay files to enable a peripheral that is disabled by default, select a sensor on the board for an application specific purpose, etc. This makes it possible to reconfigure the kernel and device drivers without modifying source code. There are several ways to set .overlay files:

• Using DTC_OVERLAY_FILE variable in the CMakeLists.txt file, before including Zephyr’s boilerplate.cmake file. (Recommended)

• Using a boards/<BOARD>.overlay file in the zephyr folder, for the current board

• Using a <BOARD>.overlay file in the zephyr folder.

Warning

PIO board names may differ from Zephyr targets, which means that to help the build system automatically pick up .overlay file, the <BOARD> name in <BOARD>.overlay file must have the same name as specified in the official Zephyr board list.

文件嵌入

In case your CMakeLists.txt relies on using generate_inc_* functions that are used for generating and compressing individual files (for example certificates for secure connections) you need to configure your PIO project accordingly using the following structure:

[env:myenv]
platform = ...
board = ...
framework = zephyr
board_build.embed_files =
    # files to be embedded
    src/apps-cert.der
    src/apps-key.der

Where apps-cert.der and apps-key.der are the files you want to embed to your project at the compile time.

模块组件

Note

PIO automatically installs several default modules used with Zephyr framework including modules that implement silicon vendor Hardware Abstraction Layers (HALs).

Zephyr modules are externally maintained packages that allow using well-established and mature code created by third party developers.

These modules contain either a single module.yml file or CMakeLists.txt and Kconfig files that describe how to build and configure them. You can specify paths to additional directories with source code, Kconfig, etc. using ZEPHYR_EXTRA_MODULES at the top of your project’s CMakeLists.txt file, for example:

# Additional modules
set(ZEPHYR_EXTRA_MODULES "path/to-zephyr-custom-module"  [...])

# Boilerplate code, which pulls in the Zephyr build system.
cmake_minimum_required(VERSION 3.13.1)
include($ENV{ZEPHYR_BASE}/cmake/app/boilerplate.cmake NO_POLICY_SCOPE)
project(my_zephyr_app)

# Add your source file to the "app" target. This must come after
# the boilerplate code, which defines the target.
target_sources(app PRIVATE ../src/main.c)

Since the build may not work correctly if the full path to sources is greater than 250 characters (see CMAKE_OBJECT_PATH_MAX) it might be a good idea to keep modules close to the project configuration files (e.g. in zephyr folder) in form of a git submodule.

Warning

Make sure the ZEPHYR_EXTRA_MODULES variable is set before including the boilerplate file, as shown above.

注意事项

At the moment several limitations are present:

• The minimum supported version of Python is 3.4

• No whitespace characters allowed in project paths.

• The Trusted Firmware M module is not supported

开发示例

• Zephyr RTOS for Atmel SAM

• Zephyr RTOS for Freescale Kinetis

• Zephyr RTOS for Nordic nRF51

• Zephyr RTOS for Nordic nRF52

• Zephyr RTOS for NXP i.MX RT

• Zephyr RTOS for NXP LPC

• Zephyr RTOS for SiFive

• Zephyr RTOS for Silicon Labs EFM32

• Zephyr RTOS for ST STM32

• Zephyr RTOS for Teensy

调试工具

Debugging - “1-click” solution for debugging with a zero configuration.

Supported debugging tools are listed in “Debug” column. For more detailed information, please scroll table by horizontal. You can switch between debugging Tools & Debug Probes using debug_tool option in “platformio.ini” (Project Configuration File).

Warning

You will need to install debug tool drivers depending on your system. Please click on compatible debug tool below for the further instructions.

适配硬件

Boards	Debugging	STM32	Frequency	SRAM/Flash	Vendor
32F412GDISCOVERY	ST-LINK	STM32F412ZGT6	100MHz	256KB/1MB
32F723EDISCOVERY	ST-LINK	STM32F723IEK6	216MHz	192KB/512KB
96Boards B96B-F446VE	ST-LINK	STM32F446VET6	168MHz	128KB/512KB
Nucleo G071RB	ST-LINK	STM32G071RBT6	64MHz	36KB/128KB
Nucleo G431RB	ST-LINK	STM32G431RBT6	170MHz	32KB/128KB
Nucleo G474RE	ST-LINK	STM32G474RET6	170MHz	512KB	128KB
ST 32F411EDISCOVERY	ST-LINK	STM32F411VET6	100MHz	512KB	128KB
ST 32F429IDISCOVERY	ST-LINK	STM32F429ZIT6	180MHz	2MB	256KB
ST 32F469IDISCOVERY	ST-LINK	STM32F469NIH6	180MHz	1MB	384KB
ST 32F746GDISCOVERY	ST-LINK	STM32F746NGH6	216MHz	1MB	320KB
ST 32F769IDISCOVERY	ST-LINK	STM32F769NIH6	216MHz	1MB	512KB
ST 32L476GDISCOVERY	ST-LINK	STM32L476VGT6	80MHz	1MB	128KB
ST 32L496GDISCOVERY	ST-LINK	STM32L496AGI6	80MHz	1MB	320KB
ST B-L475E-IOT01A Discovery kit	ST-LINK	STM32L475VGT6	80MHz	1MB	96KB
ST DISCO-L072CZ-LRWAN1	ST-LINK	STM32L072CZ	32MHz	192KB	20KB
ST Discovery F072RB	ST-LINK	STM32F072RBT6	48MHz	128KB	16KB
ST Nucleo F030R8	ST-LINK	STM32F030R8T6	48MHz	64KB	8KB
ST Nucleo F031K6	ST-LINK	STM32F031K6T6	48MHz	32KB	4KB
ST Nucleo F070RB	ST-LINK	STM32F070RBT6	48MHz	128KB	16KB
ST Nucleo F091RC	ST-LINK	STM32F091RCT6	48MHz	256KB	32KB
ST Nucleo F103RB	ST-LINK	STM32F103RBT6	72MHz	128KB	20KB
ST Nucleo F207ZG	ST-LINK	STM32F207ZGT6	120MHz	1MB	128KB
ST Nucleo F302R8	ST-LINK	STM32F302R8T6	72MHz	64KB	16KB
ST Nucleo F303K8	ST-LINK	STM32F303K8T6	72MHz	64KB	12KB
ST Nucleo F303RE	ST-LINK	STM32F303RET6	72MHz	512KB	64KB
ST Nucleo F334R8	ST-LINK	STM32F334R8T6	72MHz	64KB	16KB
ST Nucleo F401RE	ST-LINK	STM32F401RET6	84MHz	512KB	96KB
ST Nucleo F410RB	ST-LINK	STM32F410RBT6	100MHz	128KB	32KB
ST Nucleo F411RE	ST-LINK	STM32F411RET6	100MHz	512KB	128KB
ST Nucleo F412ZG	ST-LINK	STM32F412ZGT6	100MHz	1MB	256KB
ST Nucleo F413ZH	ST-LINK	STM32F413ZHT6	100MHz	512KB	128KB
ST Nucleo F429ZI	ST-LINK	STM32F429ZIT6	180MHz	2MB	192KB
ST Nucleo F446RE	ST-LINK	STM32F446RET6	180MHz	512KB	128KB
ST Nucleo F446ZE	ST-LINK	STM32F446ZET6	180MHz	512KB	128KB
ST Nucleo F746ZG	ST-LINK	STM32F746ZGT6	216MHz	1MB	320KB
ST Nucleo F756ZG	ST-LINK	STM32F756ZG	216MHz	1MB	320KB
ST Nucleo F767ZI	ST-LINK	STM32F767ZIT6	216MHz	2MB	512KB
ST Nucleo H723ZG	ST-LINK	STM32H723ZGT6	550MHz	1MB	432KB
ST Nucleo H743ZI	ST-LINK	STM32H743ZIT6	400MHz	2MB	512KB
ST Nucleo H745ZI-Q	ST-LINK	STM32H745ZIT6	480MHz	1MB	512KB
ST Nucleo H753ZI	ST-LINK	STM32H753ZIT6	400MHz	2MB	864KB
ST Nucleo L011K4	ST-LINK	STM32L011K4T6	32MHz	16KB	2KB
ST Nucleo L031K6	ST-LINK	STM32L031K6T6	32MHz	32KB	8KB
ST Nucleo L053R8	ST-LINK	STM32L053R8T6	32MHz	64KB	8KB
ST Nucleo L073RZ	ST-LINK	STM32L073RZ	32MHz	192KB	20KB
ST Nucleo L412RB-P	ST-LINK	STM32L412RBT6P	80MHz	128KB	40KB
ST Nucleo L432KC	ST-LINK	STM32L432KCU6	80MHz	256KB	64KB
ST Nucleo L433RC-P	ST-LINK	STM32L433RC	80MHz	256KB	64KB
ST Nucleo L476RG	ST-LINK	STM32L476RGT6	80MHz	1MB	96KB
ST Nucleo L496ZG	ST-LINK	STM32L496ZGT6	80MHz	1MB	320KB
ST Nucleo L4R5ZI	ST-LINK	STM32L4R5ZIT6	120MHz	2MB	640KB
ST Nucleo WL55JC	ST-LINK	STM32WL55JC	48MHz	256KB	64KB
ST STM32F0DISCOVERY	ST-LINK	STM32F051R8T6	48MHz	64KB	8KB
ST STM32F3DISCOVERY	ST-LINK	STM32F303VCT6	72MHz	256KB	40KB
ST STM32F4DISCOVERY	ST-LINK	STM32F407VGT6	168MHz	1MB	128KB
ST STM32G071B Discovery	ST-LINK	STM32G071RBT6	64MHz	128KB	36KB
STM32H735G-DK Discovery kit	ST-LINK	STM32H735IGK6	550MHz	1MB	432KB
STM32H747I-DISCO	ST-LINK	STM32H747XIH6	400MHz	2MB	512KB
96Boards Argonkey (STEVAL-MKI187V1)	External	STM32F412CG	100MHz	1MB	256KB
96Boards Neonkey	External	STM32F427VIT6	168MHz	1.99MB	256KB
96Boards Neonkey	External	STM32F411CE	100MHz	512KB	128KB
WeAct Studio BlackPill V2.0 (STM32F411CE)	External	STM32F411CEU6	100MHz	512KB	128KB
WeAct Studio BlackPill V3.0 (STM32F401CE)	External	STM32F401CEU6	84MHz	512KB	96KB
Adafruit Feather STM32F405	External	STM32F405RGT6	168MHz	1MB	128KB
Black STM32F407VE	External	STM32F407VET6	168MHz	512KB	128KB
Black STM32F407ZG	External	STM32F407ZGT6	168MHz	1MB	128KB
BlackPill F103C8	External	STM32F103C8T6	72MHz	64KB	20KB
BlackPill F103C8 (128k)	External	STM32F103C8T6	72MHz	128KB	20KB
BluePill F103C8	External	STM32F103C8T6	72MHz	64KB	20KB
BluePill F103C8 (128k)	External	STM32F103C8T6	72MHz	128KB	20KB
OLIMEXINO-STM32	External	STM32F103RBT6	72MHz	128KB	20KB
Olimex STM32-P405	External	STM32F405RGT6	168MHz	1MB	128KB
STEVAL-FCU001V1 Flight controller unit evaluation board	External	STM32F401CCU6	84MHz	256KB	64KB
STM32-E407	External	STM32F407ZGT6	168MHz	1MB	128KB
STM32-H407	External	STM32F407ZGT6	168MHz	1MB	128KB
STM3210C-EVAL	External	STM32F107VCT6	72MHz	256KB	64KB
STM32373C-EVAL	External	STM32F373VCT6	72MHz	256KB	32KB
STM32F072-EVAL	External	STM32F072VBT6	48MHz	128KB	16KB

Boards	Debugging	Atmel SAM	Frequency	SRAM/Flash	Vendor
Arduino Zero (Programming/Debug Port)	CMSIS-DAP	SAMD21G18A	48MHz	32KB/256KB
Atmel ATSAMR21-XPRO	CMSIS-DAP	SAMR21G18A	48MHz	32KB/256KB
Atmel SAMD21-XPRO	CMSIS-DAP	SAMD21J18A	48MHz	32KB/256KB
Adafruit Feather M0	External	SAMD21G18A	48MHz	32KB/256KB
Adafruit ItsyBitsy M4	External	SAMD51G19A	120MHz	192KB/512KB
Adafruit Trinket M0	External	SAMD21E18A	48MHz	32KB/256KB
Arduino Due (Programming Port)	External	AT91SAM3X8E	84MHz	96KB/512KB
NANO 33 IoT	External	SAMD21G18A	48MHz	32KB/256KB
Seeeduino XIAO	External	SAMD21G18A	48MHz	32KB/256KB

Boards	Debugging	Nordic nRF52	Frequency	SRAM/Flash	Vendor
BBC micro:bit V2	CMSIS-DAP	NRF52833	64MHz	512KB	128KB
BL652 Development Kit	CMSIS-DAP	NRF52832	64MHz	512KB	64KB
BL653 Development Kit	CMSIS-DAP	NRF52833	64MHz	512KB	128KB
BL654 Development Kit	CMSIS-DAP	NRF52840	64MHz	1MB	256KB
ElectronutLabs Blip	CMSIS-DAP	NRF52840	64MHz	1MB	256KB
ElectronutLabs Papyr	CMSIS-DAP	NRF52840	64MHz	1MB	256KB
VNG VBLUno52	CMSIS-DAP	NRF52832	64MHz	512KB	64KB
u-blox BMD-345-EVAL	CMSIS-DAP	NRF52840	64MHz	1MB	256KB
Makerdiary nRF52832-MDK	CMSIS-DAP	NRF52832	64MHz	512KB	64KB
Makerdiary nRF52840-MDK	CMSIS-DAP	NRF52840	64MHz	1MB	256KB
Nordic nRF52-DK	CMSIS-DAP	NRF52832	64MHz	512KB	64KB
Nordic nRF52833-DK	CMSIS-DAP	NRF52833	64MHz	512KB	128KB
Nordic nRF52840-DK	CMSIS-DAP	NRF52840	64MHz	1MB	256KB
PHYTEC reel board	CMSIS-DAP	NRF52840	64MHz	1MB	256KB
PHYTEC reel board v2	CMSIS-DAP	NRF52840	64MHz	1MB	256KB
RedBearLab BLE Nano 2	CMSIS-DAP	NRF52832	64MHz	512KB	64KB
96Boards Nitrogen	External	NRF52832	64MHz	512KB	64KB
Adafruit Bluefruit nRF52832 Feather	External	NRF52832	64MHz	512KB	64KB
Adafruit Feather nRF52840 Express	External	NRF52840	64MHz	796KB	243KB
Adafruit LED Glasses Driver nRF52840	External	NRF52840	64MHz	796KB	232KB
Holyiot YJ-16019	External	NRF52832	64MHz	512KB	64KB
Laird Connectivity Pinnacle 100 DVK	External	NRF52840	64MHz	1MB	256KB
Nordic Thingy:52 (nRF52-PCA20020)	External	NRF52832	64MHz	512KB	64KB
Particle Argon	External	NRF52840	64MHz	796KB	243KB
Particle Boron	External	NRF52840	64MHz	796KB	243KB
Particle Xenon	External	NRF52840	64MHz	796KB	243KB
Ruuvi Tag	External	NRF52832	64MHz	512KB	64KB

Boards	Debugging	Nordic nRF51	Frequency	SRAM/Flash	Vendor
BBC micro:bit	CMSIS-DAP	NRF51822	16MHz	256KB	16KB
VNG VBLUNO51	CMSIS-DAP	NRF51822	16MHz	128KB	32KB
RedBearLab BLE Nano 1.5	CMSIS-DAP	NRF51822	16MHz	256KB	32KB
Nordic nRF51 Dongle (PCA10031)	CMSIS-DAP	NRF51822	32MHz	256KB	32KB
Nordic nRF51X22 Development Kit(PCA1000X)	CMSIS-DAP	NRF51822	32MHz	256KB	32KB
Waveshare BLE400	External	NRF51822	32MHz	256KB	32KB

Boards	Debugging	Freescale Kinetis	Frequency	SRAM/Flash	Vendor
Freescale Kinetis FRDM-K22F	CMSIS-DAP	MK22FN512VLH12	120MHz	512KB	128KB
Freescale Kinetis FRDM-K64F	CMSIS-DAP	MK64FN1M0VLL12	120MHz	1MB	256KB
Freescale Kinetis FRDM-K82F	CMSIS-DAP	MK82FN256VLL15	150MHz	256KB	256KB
Freescale Kinetis FRDM-KL25Z	CMSIS-DAP	MKL25Z128VLK4	48MHz	128KB	16KB
Freescale Kinetis FRDM-KW41Z	CMSIS-DAP	MKW41Z512VHT4	48MHz	512KB	128KB
Freescale Kinetis FRDM-KW24D512	External	MKW24D512	50MHz	512KB	64KB
Hexiwear	External	MK64FN1M0VDC12	120MHz	1MB	256KB
SEGGER IP Switch Board	External	MK66FN2M0VMD18	180MHz	2MB	256KB

Boards	Debugging	SiFive	Frequency	SRAM/Flash	Vendor
HiFive1	FTDI Chip	FE310	320MHz	16MB	16KB
HiFive1 Rev B	J-LINK	FE310	320MHz	16MB	16KB

Boards	Debugging	NXP LPC	Frequency	SRAM/Flash	Vendor
LPCXpresso11U68	CMSIS-DAP	LPC11U68	50MHz	256KB	36KB
NXP LPCXpresso54114	CMSIS-DAP	LPC54114J256BD64	100MHz	256KB	192KB
NXP LPCXpresso55S16	CMSIS-DAP	LPC55S16	150MHz	256KB	96KB

Boards	Debugging	NXP i.MX RT	Frequency	SRAM/Flash	Vendor
NXP i.MX RT1010 Evaluation Kit	J-LINK	MIMXRT1011DAE5A	500MHz	128KB/64KB
NXP i.MX RT1015 Evaluation Kit	J-LINK	MIMXRT1015DAF5A	500MHz	128KB/96KB
NXP i.MX RT1020 Evaluation Kit	J-LINK	MIMXRT1021DAG5A	500MHz	32MB/8MB
NXP i.MX RT1050 Evaluation Kit	J-LINK	MIMXRT1052DVL6B	600MHz	32MB/8MB
NXP i.MX RT1060 Evaluation Kit	J-LINK	MIMXRT1062DVL6A	600MHz	8MB	32MB
NXP i.MX RT1064 Evaluation Kit	J-LINK	MIMXRT1064DVL6A	600MHz	32MB/8MB
Teensy 4.0	External	IMXRT1062	600MHz	512KB/1.94MB
Teensy 4.1	External	IMXRT1062	600MHz	512KB/7.75MB

Boards	Debugging	Silicon Labs EFM32	Frequency	SRAM/Flash	Vendor
SLSTK3400A USB-enabled Happy Gecko	J-LINK	EFM32HG322F64	25MHz	8KB/64KB
Thunderboard Sense 2 Sensor-to-Cloud Advanced IoT	J-LINK	EFR32MG12P432F1024	40MHz	256KB/1MB
EFM32WG-STK3800 Wonder Gecko	J-LINK	EFM32WG990F256	48MHz	32KB/256KB

Boards	Debugging	SiFive	Frequency	SRAM/Flash	Vendor
SparkFun RED-V RedBoard	J-LINK	FE310	320MHz	16KB/16MB
SparkFun RED-V Thing Plus	J-LINK	FE310	320MHz	16KB/16MB