Trampoline is a static RTOS for small embedded systems. Its API is aligned with OSEK/VDX OS and AUTOSAR OS 4.2 standards.
8 platforms are supported by now :
- cortex
- Cortex-M (M0+, M3 and M4 for now) instruction set
- Cortex-A (A7) instruction set. This port is under heavy development.
- Cortex-R (R52) instruction set.
- riscv
- PULPino microprocessor with 32bits RISC-V instruction set.
- ppc: PowerPC 32bits instruction set
- posix: virtual platform for POSIX systems (tested on Linux and OS X)
- avr: AVR 8 bits microcontrollers
- ARM: ARM 32 bits instruction set
- virt-v7
- Cortex-A9 - Cortex-A7 virtualized instruction set. This port is used with the hypervisor XVisor
- MSP430/CPUX which has been developed on MSP430FR5969 and MSP430FR5994 microcontrollers.
- rh850
- Renesas G4MH instruction set.
And we welcome external contributors to extend this list.
Trampoline runs on the following platforms :
| MCU | Architecture | Cores | Evaluation Board |
|---|---|---|---|
| Atmel ATMega328p | 8-bit AVR | 1 | Arduino Uno |
| Atmel ATMega2560 | 8-bit AVR | 1 | Arduino Mega |
| Atmel SAM D21 | Cortex-M0+ | 1 | XPlainedPro |
| Broadcom BCM2836 | Cortex-A7 | 4 | Raspberry Pi 2 Model B |
| NXP LPC2294 | ARM7 | 1 | Olimex LPC-L2294-1MB |
| NXP / Freescale MK20DX256 | Cortex-M4 | 1 | Teensy31 |
| NXP / Freescale MPC564xL | Power Architecture | 2 | XPC56XX EVB + XPC56XL MINI-MODULE |
| PULPino | RISC-V | 1 | ZedBoard |
| Renesas Spider CR52 | Cortex-R52 | 1 | Renesas R-Car S4 Spider |
| Renesas Spider G4MH | RH850 | 1 | Renesas R-Car S4 Spider |
| STMicroelectronics STM32F4xx | Cortex-M4 | 1 | STM32F4DISCOVERY with STM32F407VG |
| STMicroelectronics STM32F30x | Cortex-M4 | 1 | Nucleo-32 STM32F303K8 |
| STMicroelectronics STM32L432 | Cortex-M4 | 1 | Nucleo-32 STM32L432KC |
| MicroSemi SmartFusion2 | Cortex-M3 | 1 | starterKit |
| MSP430FR5969, MSP430FR5994 | CPUX | 1 | Launchpad MSP-EXP430FR5969, Launchpad MSP-EXP430FR5994 |
Some examples are available (check examples):
- Cortex M4 with µC stm32f407:
cortex-m/armv7em/stm32f407/stf32f4discovery- blink. Blinks a LED using an alarm and a task.
- readButton. The example polls the button to start an alarm that activates a task to blink a LED
- readButton_isr. Same but the button triggers an ISR.
- alarms. It is the same example than readButton_isr but we test the return value of SetRelAlarm for return parameters when in kernel (system call) mode.
- timer. ISR2 trigered by timer TIM2.
- Cortex M4 with MCU stm32f303K8:
cortex-m/armv7em/stm32f303/Nucleo-32. There are few differences from thestm32f407target, and examples should be easily imported.- blink. Blinks a LED using an alarm and a task.
- Cortex M4 with MCU stm32L432KC:
cortex-m/armv7em/stm32l432/Nucleo-32.- blink. Blinks a LED using an alarm and a task.
- readButton. The example polls the button to start an alarm that activates a task to blink a LED
- readButton_isr. Same but the button triggers an ISR.
- Cortex M4 with µC mk20dx256 :
cortex-m/armv7em/mk20dx256/teensy31- blink. Blinks the Teensy 3.1 LED using an alarm and a task.
- startStopBlink. The example polls a button connected to pin 8 to start an alarm that activates a task to blink a LED.
- liquidCrystal. startStopBlink extended. In addition the periodic task prints a value on a LCD.
- isr2onPIT. Use the PIT channel 0 to trigger an ISR2.
- isr1onFTM. Use the FTM0 to trigger an ISR1 and generate a variable width pulse.
- Cortex M3 with µC SmartFusion2:
cortex-m/armv7m/SmartFusion2.- blink. a simple periodic example which toggles the two green leds (DS3, DS4) of the board
- fpgaInterrupt an interrupt from the FPGA fabriq toggles the green led DS4 of the board (and a periodic task blinks another Led).
- Cortex M0+ with µC samd21:
cortex-m/armv6m/samd21/XPlainedPro.- blink. Blinks a LED using an alarm and a task.
- readButton. The example polls the button to start an alarm that activates a task to blink a LED
- readButton_isr. Same but the button triggers an ISR.
- Cortex A7 with bcm2836 - Raspberry Pi 2 :
cortex-a-r/armv7/bcm2836/rpi2.- blink. A first runable blink example is available. We need a bootloader and and a console. This stuff will be soon available as well. Single core for the moment.
- avr: 3 examples for Arduino Uno (ATMega328p chip) and Arduino Mega (ATMega2560 chip)
- blink. Blinks a LED using an alarm and a task.
- serial. improve 'blink': use the standard Arduino serial API.
- extInterrupt. improve 'serial': add 2 ISRs to change the alarm period.
- arm: 1 example for Olimex lpc2294 board
- lonely. Blinks a led, 3 tasks, ISR category 1 or 2, counts interrupts from the push button.
- ppc: 5 examples for MPC5643L
- blink_1c. Blinks a LED using an alarm and a task.
- blink_1c_withOrti. Blinks a LED using an alarm and a task. Creates an orti file.
- blink_2c. Blinks two leds using two synchronized cores with one task and one alarm per core.
- blink_2c_arxml. Same as the two cores blink example but uses an arxml config file.
- blink_2c_opticks. Same as the two cores blink example but optimizes ticks.
- button_2c. Waits for a button input to light a led. Switch it off using Timing Protection watchdog. Multicore example.
- spinlocks. Producer/Consumer example.
- PULPino:
riscv/pulpino- blink. Has two tasks who alternate outputting on UART interface.
- virt-v7:
- firmware. Builds a firmware that can be used as a guest on XVisor.
- MSP430 CPUX, 4 examples for Launchpad MSP-EXP430FR5969 and for MSP-EXP430FR5994:
- blink. blink LED2 with a 100ms period.
- readbutton. blink LED2 with a 200ms period. Button S1 allows to start and stop the blinking.
- readbutton_isr1. blink LED2 with a 200ms period. Button S1 triggers an ISR1 that swtches LED1.
- readbutton_isr2. blink LED2 with a 200ms period. Button S1 triggers an ISR2 that swtches LED1.
More examples are coming.
Updated to version 3.1.16 on 2023, December 4.
- Mac OS X (Universal): goil-mac-os-x-universal.zip
- Mac OS X (Apple Silicon): goil-mac-os-x-silicon.zip
- Mac OS X (Intel) : goil-mac-os-x.zip
- Linux 32 bits: goil-linux-32.zip
- Linux 64 bits: goil-linux-64.zip
- Windows: goil-windows.zip (you may be warned of the presence of a virus)
Note: goil binaries for Mac OS X are not signed. You can either recompile goil from sources (script in goil/makefile-macosx) or self sign the binary (information here)
- MD5 (goil-mac-os-x-universal.zip) = 68b8cad78cecd39b273728c1d4a99ea2
- MD5 (goil-mac-os-x-silicon.zip) = 9d7422f3cead9b40e37c062bc646e53c
- MD5 (goil-mac-os-x.zip) = 411a1c5999288c955e275619c8443261
- MD5 (goil-linux-32.zip) = 581a56202e35ae5551a3f9dce600179d
- MD5 (goil-linux-64.zip) = fe06a628abd5ea954048c26a3a2cbda7
- MD5 (goil-windows.zip) = 3bc9be1b6c053aa58437c957d5d174f9
- ARM development tools compiled for various platforms.
The OSEK-VDX portal is down since at least june 2017 because the working group has been disbanded in favor of AUTOSAR. Here are copies of a part of the documents that were available for download: