Trampoline
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 the stm32f407 target, 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.
Precompiled binaries of goil, the OIL and ARXML compiler
Updated to version 3.1.16 on 2023, December 4.
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
Useful links
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: