CAmkES (component architecture for microkernel-based embedded systems) is a software development and runtime framework for quickly and reliably building microkernel-based multiserver (operating) systems. It follows a component-based software engineering approach to software design, resulting in a system that is modelled as a set of interacting software components. These software components have explicit interaction interfaces and a system design that explicitly details the connections between the components.
The development framework provides:
- a language to describe component interfaces, components, and whole component-based systems
- a tool that processes these descriptions to combine programmer-provided component code with generated scaffolding and glue code to build a complete, bootable, system image
- full integration in the seL4 environment and build system
Setting up your machine
Before you can use any of the SEL4 related repositories, you must get the "repo" tool by Google. SEL4 projects have multiple subproject dependencies, and repo will fetch all of them and place them in the correct subdirectories for you.
Make sure that you already have the tools to build seL4 (seL4: Setting up your machine)
You must first install the SEL4 dependencies, and then you should move on to the instructions in this section.
Install haskell stack (haskell version and package manager)
curl -sSL https://get.haskellstack.org/ | sh
sudo apt-get install haskell-stack
- Install python packages jinja2, ply, pyelftools (via pip):
apt-get install python-pip pip install --user pyelftools ply jinja2
sudo apt-get install python-ply python-jinja2 python-pyelftools
- If building on a 64-bit system ensure 32-bit compiler tools are installed, mainly:
apt-get install lib32gcc1
- And the correct version of multilib for your gcc, for example:
apt-get install gcc-multilib
Download CAmkES source code from github:
mkdir camkes-project cd camkes-project repo init -u https://github.com/seL4/camkes-manifest.git repo sync
Build and run simple application
The following will configure, build, and run a simple example CAmkES system:
make arm_simple_defconfig make silentoldconfig
If you haven't done so already, change the toolchain to the one for your system. You can do this by running make menuconfig, then going to Toolchain Options -> Cross compiler prefix. You will most likely be compiling with arm-linux-gnueabi-.
make qemu-system-arm -M kzm -nographic -kernel images/capdl-loader-experimental-image-arm-imx31
In order to clean up after building (for example because you’ve set up a new configuration and you want to make sure that everything gets rebuilt correctly) do:
To learn about developing your own CAmkES application, read the tutorial.
Can be found here.
Information about the active development branch of Camkes can be found here.
Information about the x86 camkes vm can be found here.