开源RTOS（实时操作系统）：nuttx 编译
手册：Installing — NuttX latest documentation
源码：GitHub - apache/nuttx: Apache NuttX is a mature, real-time embedded operating system (RTOS)
Installing
The first step to get started with NuttX is to install a series of required tools, a toolchain for the architecture you will be working with and, finally, download NuttX source code itself.
Prerequisites
First, install the following set of system dependencies according to your Operating System:
Linux (debian based)Linux (Fedora / RPM based)macOSWindows / WSLWindows/Cygwin
Run the following command to install packages:
$ sudo apt install \ $ bison flex gettext texinfo libncurses5-dev libncursesw5-dev xxd \ $ git gperf automake libtool pkg-config build-essential gperf genromfs \ $ libgmp-dev libmpc-dev libmpfr-dev libisl-dev binutils-dev libelf-dev \ $ libexpat1-dev gcc-multilib g++-multilib picocom u-boot-tools util-linux
KConfig frontend
NuttX configuration system uses KConfig which is exposed via a series of interactive menu-based frontends, part of the kconfig-frontends package. Depending on your OS you may use a precompiled package or you will have to build it from source, which is available in the NuttX tools repository:
Ubuntu 20.04 LTS and laterUbuntu 18.04 LTS and earlierFedoramacOS
$ sudo apt install kconfig-frontends
NuttX also supports kconfiglib by default, which is a Kconfig tool implemented in Python 2/3. Compared with kconfig-frontends, kconfiglib provides NuttX with the possibility of multi-platform support(configure NuttX in Windows native/Visual Studio), and also kconfiglib has a stronger Kconfig syntax check, this will help developers to avoid some Kconfig syntax errors. Install kconfiglib via following command:
sudo apt install python3-kconfiglib
If you are a working on Windows, which also need the support of windows-curses:
pip install windows-curses
Toolchain
To build Apache NuttX you need the appropriate toolchain according to your target platform. Some Operating Systems such as Linux distribute toolchains for various architectures. This is usually an easy choice however you should be aware that in some cases the version offered by your OS may have problems and it may be better to use a widely used build from another source.
The following example shows how to install a toolchain for ARM architecture:
Ubuntu (deb)macOSFrom arm.com
$ sudo apt install gcc-arm-none-eabi binutils-arm-none-eabi
Tip
There are hints on how to get the latest tool chains for most supported architectures in the Apache NuttX CI helper script and Docker container
Todo
Required toolchain should be part of each arch documentation (see relevant issue).
Download NuttX
Apache NuttX is actively developed on GitHub. There are two main repositories, nuttx and apps, where the latter is technically optional (but recommended for complete set of features). If you intend to contribute changes, you need the absolute latest version or you simply prefer to work using git, you should clone these repositories (recommended). Otherwise you can choose to download any stable release archive.
Clone git repositoriesDownload stable release
$ mkdir nuttxspace $ cd nuttxspace $ git clone https://github.com/apache/nuttx.git nuttx $ git clone https://github.com/apache/nuttx-apps apps
The development source code is also available as a compressed archive, should you need it:
$ mkdir nuttxspace $ cd nuttxspace $ curl -L https://github.com/apache/nuttx/tarball/master -o nuttx.tar.gz $ curl -L https://github.com/apache/nuttx-apps/tarball/master -o apps.tar.gz $ tar zxf nuttx.tar.gz --one-top-level=nuttx --strip-components 1 $ tar zxf apps.tar.gz --one-top-level=apps --strip-components 1
There are also .zip archives available (useful for Windows users): just replace tarball with zipball.
在Windows10的WSL Ubuntu22.04环境下实践安装Nuttx
首先进入WSL
安装基本库
sudo apt install \
bison flex gettext texinfo libncurses5-dev libncursesw5-dev xxd \
git gperf automake libtool pkg-config build-essential gperf genromfs \
libgmp-dev libmpc-dev libmpfr-dev libisl-dev binutils-dev libelf-dev \
libexpat1-dev gcc-multilib g++-multilib picocom u-boot-tools util-linux安装KConfig frontend
sudo apt install kconfig-frontends安装工具链
sudo apt install gcc-arm-none-eabi binutils-arm-none-eabi这个占用空间较大，需要2.5G空间
下载源代码
mkdir nuttxspace
cd nuttxspace
git clone https://github.com/apache/nuttx.git nuttx
git clone https://github.com/apache/nuttx-apps apps如果github抽风，可以使用镜像加速
使用make进行编译
初始化配置
cd nuttx
./tools/configure.sh -L | less哇塞，这个支持的实在太多了！光esp的就这么多：
esp32c3-devkit:efuse
esp32c3-devkit:watchdog
esp32c3-devkit:pwm
esp32c3-devkit:gdbstub
esp32c3-devkit:module
esp32c3-devkit:watcher
esp32c3-devkit:wifi
esp32c3-devkit:romfs
esp32c3-devkit:tickless
esp32c3-devkit:coremark
esp32c3-devkit:sotest
esp32c3-devkit:bmp180
esp32c3-devkit:random
esp32c3-devkit:rtc
esp32c3-devkit:ble
esp32c3-devkit:twai
esp32c3-devkit:ostest
esp32c3-devkit:usbconsole
esp32c3-devkit:autopm
esp32c3-devkit:oneshot
esp32c3-devkit:pm
esp32c3-devkit:knsh
esp32c3-devkit:gpio
esp32c3-devkit:nvcfgdata
esp32c3-devkit:sta_softap
esp32c3-devkit:nsh
esp32c3-devkit:lvgl
esp32c3-devkit:timer
esp32c3-devkit:mcuboot_slot_confirm
esp32c3-devkit:cxx
esp32c3-devkit:spiflash
esp32c3-devkit:crypto
esp32c3-devkit:uid
esp32c3-devkit:elf
esp32c3-devkit:adc
esp32c3-devkit-rust-1:nsh
esp32c3-devkit-rust-1:brickmatch
esp32h2-devkit:i2c
esp32h2-devkit:efuse
esp32h2-devkit:watchdog
esp32h2-devkit:pwm
esp32h2-devkit:timers
esp32h2-devkit:tickless
esp32h2-devkit:i2schar
esp32h2-devkit:bmp180
esp32h2-devkit:spi
esp32h2-devkit:random
esp32h2-devkit:rtc
esp32h2-devkit:buttons
esp32h2-devkit:twai
esp32h2-devkit:ostest
esp32h2-devkit:qencoder
esp32h2-devkit:capture
esp32h2-devkit:usbconsole
esp32h2-devkit:motor
esp32h2-devkit:gpio
esp32h2-devkit:nsh
esp32h2-devkit:temperature_sensor
esp32h2-devkit:rmt
esp32h2-devkit:spiflash
esp32h2-devkit:sdm
esp32h2-devkit:mcuboot_nsh
esp32h2-devkit:adc
esp32c3-xiao:wifi
esp32c3-xiao:ble
esp32c3-xiao:usbnsh
esp32c3-xiao:gpio
esp32c3-xiao:nsh
esp32c3-generic:i2c
esp32c3-generic:efuse
esp32c3-generic:watchdog
esp32c3-generic:pwm
esp32c3-generic:timers
esp32c3-generic:nimble
esp32c3-generic:wifi
esp32c3-generic:tickless
esp32c3-generic:i2schar
esp32c3-generic:bmp180
esp32c3-generic:spi
esp32c3-generic:random
esp32c3-generic:rtc
esp32c3-generic:buttons
esp32c3-generic:ble
esp32c3-generic:twai
esp32c3-generic:ostest
esp32c3-generic:usbconsole
esp32c3-generic:gpio
esp32c3-generic:sta_softap
esp32c3-generic:nsh
esp32c3-generic:temperature_sensor
esp32c3-generic:rmt
esp32c3-generic:spiflash
esp32c3-generic:sdm
esp32c3-generic:mcuboot_nsh
esp32c3-generic:adc
esp32c6-devkitm:i2c
esp32c6-devkitm:efuse
esp32c6-devkitm:watchdog
esp32c6-devkitm:pwm
esp32c6-devkitm:timers
esp32c6-devkitm:wifi
esp32c6-devkitm:tickless
esp32c6-devkitm:i2schar
esp32c6-devkitm:bmp180
esp32c6-devkitm:spi
esp32c6-devkitm:random
esp32c6-devkitm:rtc
esp32c6-devkitm:buttons
esp32c6-devkitm:spislv
esp32c6-devkitm:twai
esp32c6-devkitm:ostest
esp32c6-devkitm:usbconsole
esp32c6-devkitm:gpio
esp32c6-devkitm:sta_softap
esp32c6-devkitm:nsh
esp32c6-devkitm:rmt
esp32c6-devkitm:spiflash
esp32c6-devkitm:mcuboot_nsh
esp32c6-devkitc:i2c
esp32c6-devkitc:efuse
esp32c6-devkitc:watchdog
esp32c6-devkitc:pwm
esp32c6-devkitc:timers
esp32c6-devkitc:mpu60x0
esp32c6-devkitc:wifi
esp32c6-devkitc:tickless
esp32c6-devkitc:i2schar
esp32c6-devkitc:bmp180
esp32c6-devkitc:spi
esp32c6-devkitc:random
esp32c6-devkitc:rtc
esp32c6-devkitc:buttons
esp32c6-devkitc:spislv
esp32c6-devkitc:twai
esp32c6-devkitc:ostest
esp32c6-devkitc:qencoder
esp32c6-devkitc:capture
esp32c6-devkitc:usbconsole
esp32c6-devkitc:motor
esp32c6-devkitc:gpio
esp32c6-devkitc:sta_softap
esp32c6-devkitc:nsh
esp32c6-devkitc:temperature_sensor
esp32c6-devkitc:rmt
esp32c6-devkitc:spiflash
esp32c6-devkitc:sdm
esp32c6-devkitc:mcuboot_nsh
esp32c6-devkitc:adc
esp32c6-xiao:wifi
esp32c6-xiao:usbnsh
esp32c6-xiao:gpio
esp32c6-xiao:nsh
esp32s3-eye:i2c
esp32s3-eye:wifi
esp32s3-eye:usbnsh
esp32s3-eye:gpio
esp32s3-eye:nsh
esp32s3-eye:lcd
esp32s3-lcd-ev:buttons
esp32s3-lcd-ev:ws2812
esp32s3-lcd-ev:audio
esp32s3-lcd-ev:nsh
esp32s3-lcd-ev:lcd
esp32s3-lcd-ev:lvgl
esp32s3-lhcbit:usbnsh
esp32s3-korvo-2:rtptools
esp32s3-korvo-2:sdmmc
esp32s3-korvo-2:audio
esp32s3-korvo-2:nsh
esp32s3-box:lvgl-3
esp32s3-box:buttons
esp32s3-box:nsh
esp32s3-box:touchscreen
esp32s3-box:lvgl
esp32s3-devkit:psram_octal
esp32s3-devkit:i2c
esp32s3-devkit:watchdog
esp32s3-devkit:pwm
esp32s3-devkit:nxlooper
esp32s3-devkit:usb_device
esp32s3-devkit:wifi
esp32s3-devkit:python
esp32s3-devkit:qemu_toywasm
esp32s3-devkit:sdmmc
esp32s3-devkit:tickless
esp32s3-devkit:psram_quad
esp32s3-devkit:ksta_softap
esp32s3-devkit:coremark
esp32s3-devkit:sotest
esp32s3-devkit:i2schar
esp32s3-devkit:spi
esp32s3-devkit:random
esp32s3-devkit:smp
esp32s3-devkit:qemu_openeth
esp32s3-devkit:rtc
esp32s3-devkit:buttons
esp32s3-devkit:ble
esp32s3-devkit:twai
esp32s3-devkit:qencoder
esp32s3-devkit:audio
esp32s3-devkit:capture
esp32s3-devkit:txtable
esp32s3-devkit:usbnsh
esp32s3-devkit:psram_usrheap
esp32s3-devkit:oneshot
esp32s3-devkit:adb
esp32s3-devkit:pm
esp32s3-devkit:knsh
esp32s3-devkit:motor
esp32s3-devkit:blewifi
esp32s3-devkit:gpio
esp32s3-devkit:sta_softap
esp32s3-devkit:nsh
esp32s3-devkit:usbmsc
esp32s3-devkit:qemu_debug
esp32s3-devkit:temperature_sensor
esp32s3-devkit:timer
esp32s3-devkit:rmt
esp32s3-devkit:eth_lan9250
esp32s3-devkit:stack
esp32s3-devkit:cxx
esp32s3-devkit:spiflash
esp32s3-devkit:sdm
esp32s3-devkit:toywasm
esp32s3-devkit:mcuboot_nsh
esp32s3-devkit:elf
esp32s3-devkit:fastboot
esp32s3-devkit:adc
esp32s3-xiao:usbnsh
esp32s3-xiao:combo
esp32s3-meadow:usbnsh
esp32s3-meadow:nsh
lckfb-szpi-esp32s3:pwm
lckfb-szpi-esp32s3:usb_device
lckfb-szpi-esp32s3:pca9557
lckfb-szpi-esp32s3:txtable
lckfb-szpi-esp32s3:adb
lckfb-szpi-esp32s3:gpio
lckfb-szpi-esp32s3:nsh
lckfb-szpi-esp32s3:psram
lckfb-szpi-esp32s3:lcd
lckfb-szpi-esp32s3:lvgl
lckfb-szpi-esp32s3:fastboot
esp32-wrover-kit:nx
esp32-wrover-kit:wifi
esp32-wrover-kit:leds
esp32-wrover-kit:lcd1602
esp32-wrover-kit:bmp180
esp32-wrover-kit:rtc
esp32-wrover-kit:buttons
esp32-wrover-kit:autopm
esp32-wrover-kit:oneshot
esp32-wrover-kit:lua
esp32-wrover-kit:mmcsdspi
esp32-wrover-kit:gpio
esp32-wrover-kit:nsh
esp32-wrover-kit:lvgl
esp32-devkitc:efuse
esp32-devkitc:watchdog
esp32-devkitc:ms5611
esp32-devkitc:pwm
esp32-devkitc:nxlooper
esp32-devkitc:mcuboot_update_agent
esp32-devkitc:modbus
esp32-devkitc:softap
esp32-devkitc:module
esp32-devkitc:nxdiag
esp32-devkitc:watcher
esp32-devkitc:wifi
esp32-devkitc:tickless
esp32-devkitc:coremark
esp32-devkitc:mcp2515
esp32-devkitc:wifishare
esp32-devkitc:leds
esp32-devkitc:sotest
esp32-devkitc:mqttc
esp32-devkitc:i2schar
esp32-devkitc:bmp280
esp32-devkitc:max6675
esp32-devkitc:random
esp32-devkitc:smp
esp32-devkitc:qemu_openeth
esp32-devkitc:rtc
esp32-devkitc:buttons
esp32-devkitc:wamr_wasi_debug
esp32-devkitc:ble
esp32-devkitc:twai
esp32-devkitc:ostest
esp32-devkitc:qencoder
esp32-devkitc:audio
esp32-devkitc:capture
esp32-devkitc:dac
esp32-devkitc:autopm
esp32-devkitc:snake
esp32-devkitc:psram_usrheap
esp32-devkitc:oneshot
esp32-devkitc:pm
esp32-devkitc:knsh
esp32-devkitc:motor
esp32-devkitc:wifi_smp
esp32-devkitc:blewifi
esp32-devkitc:espnow
esp32-devkitc:sta_softap
esp32-devkitc:nsh
esp32-devkitc:psram
esp32-devkitc:timer
esp32-devkitc:mcuboot_slot_confirm
esp32-devkitc:rmt
esp32-devkitc:cxx
esp32-devkitc:spiflash
esp32-devkitc:sdm
esp32-devkitc:wifinsh
esp32-devkitc:mcuboot_nsh
esp32-devkitc:elf
esp32-devkitc:brickmatch
esp32-devkitc:adc
ttgo_lora_esp32:sx127x
ttgo_lora_esp32:nsh
ttgo_t_display_esp32:lvgl_fb
ttgo_t_display_esp32:nsh
ttgo_t_display_esp32:lvgl_lcd
esp32-audio-kit:wifi
esp32-audio-kit:audio
esp32-audio-kit:nsh
esp32-pico-kit:nsh
esp32-2432S028:nsh
esp32-2432S028:lvgl
esp32-ethernet-kit:ethernet
esp32-ethernet-kit:wifi
esp32-ethernet-kit:rtc
esp32-ethernet-kit:buttons
esp32-ethernet-kit:autopm
esp32-ethernet-kit:oneshot
esp32-ethernet-kit:nsh
esp32-sparrow-kit:wifi
esp32-sparrow-kit:mqttc
esp32-sparrow-kit:nsh
esp32-lyrat:nxrecorder
esp32-lyrat:rtptools
esp32-lyrat:wifi
esp32-lyrat:buttons
esp32-lyrat:audio
esp32-lyrat:mmcsdspi
esp32-lyrat:nsh
esp32s2-kaluga-1:i2c
esp32s2-kaluga-1:watchdog
esp32s2-kaluga-1:nxlooper
esp32s2-kaluga-1:rtc
esp32s2-kaluga-1:buttons
esp32s2-kaluga-1:twai
esp32s2-kaluga-1:audio
esp32s2-kaluga-1:nsh
esp32s2-kaluga-1:lvgl_ili9341
esp32s2-kaluga-1:lvgl_st7789
esp32s2-saola-1:i2c
esp32s2-saola-1:watchdog
esp32s2-saola-1:pwm
esp32s2-saola-1:nxlooper
esp32s2-saola-1:wifi
esp32s2-saola-1:coremark
esp32s2-saola-1:sotest
esp32s2-saola-1:i2schar
esp32s2-saola-1:random
esp32s2-saola-1:rtc
esp32s2-saola-1:buttons
esp32s2-saola-1:twai
esp32s2-saola-1:ostest
esp32s2-saola-1:qencoder
esp32s2-saola-1:audio
esp32s2-saola-1:oneshot
esp32s2-saola-1:gpio
esp32s2-saola-1:sta_softap
esp32s2-saola-1:nsh
esp32s2-saola-1:temperature_sensor
esp32s2-saola-1:timer
esp32s2-saola-1:rmt
esp32s2-saola-1:cxx
esp32s2-saola-1:spiflash
esp32s2-saola-1:sdm
esp32s2-saola-1:mcuboot_nsh
esp32s2-saola-1:adc列出所有的esp32c3
./tools/configure.sh -L |grep esp32c3
esp32c3-devkit:efuse
esp32c3-devkit:watchdog
esp32c3-devkit:pwm
esp32c3-devkit:gdbstub
esp32c3-devkit:module
esp32c3-devkit:watcher
esp32c3-devkit:wifi
esp32c3-devkit:romfs
esp32c3-devkit:tickless
esp32c3-devkit:coremark
esp32c3-devkit:sotest
esp32c3-devkit:bmp180
esp32c3-devkit:random
esp32c3-devkit:rtc
esp32c3-devkit:ble
esp32c3-devkit:twai
esp32c3-devkit:ostest
esp32c3-devkit:usbconsole
esp32c3-devkit:autopm
esp32c3-devkit:oneshot
esp32c3-devkit:pm
esp32c3-devkit:knsh
esp32c3-devkit:gpio
esp32c3-devkit:nvcfgdata
esp32c3-devkit:sta_softap
esp32c3-devkit:nsh
esp32c3-devkit:lvgl
esp32c3-devkit:timer
esp32c3-devkit:mcuboot_slot_confirm
esp32c3-devkit:cxx
esp32c3-devkit:spiflash
esp32c3-devkit:crypto
esp32c3-devkit:uid
esp32c3-devkit:elf
esp32c3-devkit:adc
esp32c3-devkit-rust-1:nsh
esp32c3-devkit-rust-1:brickmatch
esp32c3-xiao:wifi
esp32c3-xiao:ble
esp32c3-xiao:usbnsh
esp32c3-xiao:gpio
esp32c3-xiao:nsh
esp32c3-generic:i2c
esp32c3-generic:efuse
esp32c3-generic:watchdog
esp32c3-generic:pwm
esp32c3-generic:timers
esp32c3-generic:nimble
esp32c3-generic:wifi
esp32c3-generic:tickless
esp32c3-generic:i2schar
esp32c3-generic:bmp180
esp32c3-generic:spi
esp32c3-generic:random
esp32c3-generic:rtc
esp32c3-generic:buttons
esp32c3-generic:ble
esp32c3-generic:twai
esp32c3-generic:ostest
esp32c3-generic:usbconsole
esp32c3-generic:gpio
esp32c3-generic:sta_softap
esp32c3-generic:nsh
esp32c3-generic:temperature_sensor
esp32c3-generic:rmt
esp32c3-generic:spiflash
esp32c3-generic:sdm
esp32c3-generic:mcuboot_nsh
esp32c3-generic:adc配置 esp32c3-devkit:nsh
cd nuttx
./tools/configure.sh -l esp32c3-devkit:nsh完成显示：
configuration written to .config
make menuconfig
cd nuttx
make menuconfig出现菜单界面
对于ammy 也就是Ubuntu 22.04版本，需要加上参数make CONFIG_LIBM=y
在library Routines里加上本地math库的支持：
选择-> Library Routines (库函数) -> Select math library (Math library from NuttX) -> Math library from NuttX
设好后，保存退出
make
makemake输出
make
Create version.h
LN: platform/board to /home/skywalk/github/nuttxspace/apps/platform/dummy
Register: dd
Register: dumpstack
Register: nsh
Register: sh
CPP: /home/skywalk/github/nuttxspace/nuttx/boards/risc-v/esp32c3-legacy/esp32c3-devkit/../common/scripts/esp32c3_rom.ld-> /home/skywalk/github/nuttxspace/nuttx/boards/risc-v/esp32c3-legacy/esp32c3-devkit/../common/scripts/esp32c3_rom.ld.tmCPP: /home/skywalk/github/nuttxspace/nuttx/boards/risc-v/esp32c3-legacy/esp32c3-devkit/../common/scripts/flat_memory.ld-> /home/skywalk/github/nuttxspace/nuttx/boards/risc-v/esp32c3-legacy/esp32c3-devkit/../common/scripts/flat_memory.ld.tmCPP: /home/skywalk/github/nuttxspace/nuttx/boards/risc-v/esp32c3-legacy/esp32c3-devkit/../common/scripts/legacy_sections.ld-> /home/skywalk/github/nuttxspace/nuttx/boards/risc-v/esp32c3-legacy/esp32c3-devkit/../common/scripts/legacy_sectioLD: nuttx
Memory region Used Size Region Size %age Used
iram0_0_seg: 6624 B 321296 B 2.06%
irom0_0_seg: 107028 B 4194272 B 2.55%
dram0_0_seg: 13792 B 321296 B 4.29%
drom0_0_seg: 147892 B 4194272 B 3.53%
rtc_seg: 0 GB 8 KB 0.00%
CP: nuttx.hex
MKIMAGE: ESP32-C3 binary
esptool.py not found. Please run: 'pip install esptool'
Run make again to create the nuttx.bin image.
make: *** [tools/Unix.mk:559: nuttx] Error 1
按照提示，安装esptool
pip install esptool
然后再make
输出：
LD: nuttx
Memory region Used Size Region Size %age Used
iram0_0_seg: 6624 B 321296 B 2.06%
irom0_0_seg: 107028 B 4194272 B 2.55%
dram0_0_seg: 13792 B 321296 B 4.29%
drom0_0_seg: 147892 B 4194272 B 3.53%
rtc_seg: 0 GB 8 KB 0.00%
CP: nuttx.hex
MKIMAGE: ESP32-C3 binary
esptool.py -c esp32c3 elf2image -fs 4MB -fm dio -ff 40m -o nuttx.bin nuttx
esptool.py v4.8.1
Creating esp32c3 image...
Merged 1 ELF section
Successfully created esp32c3 image.
Generated: nuttx.bin (ESP32-C3 compatible)使用Cmake
先安装cmake
sudo apt isntall cmake
cd nuttx
cmake -B build -DBOARD_CONFIG=esp32c3-devkit:nsh -GNinja
cmake -B build -DBOARD_CONFIG=esp32c3-devkit:nsh -GNinja配置管理
cmake --build build -t menuconfigcmake失败
烧录
烧录之前安装esptool工具
pip install esptool使用这条命令：
esptool --chip esp32c3 --port com3 --baud 460800 write_flash -z 0x0 E:\tmp\nuttx.bin显示：
esptool --chip esp32c3 --port com3 --baud 460800 write_flash -z 0x0 E:\tmp\nuttx.bin
esptool.py v4.8.1
Serial port com3
Connecting...
Failed to get PID of a device on com3, using standard reset sequence.
.
Chip is ESP32-C3 (QFN32) (revision v0.4)
Features: WiFi, BLE
Crystal is 40MHz
MAC: e4:b0:63:22:df:68
Uploading stub...
Running stub...
Stub running...
Changing baud rate to 460800
Changed.
Configuring flash size...
Flash will be erased from 0x00000000 to 0x0002afff...
Compressed 172640 bytes to 81799...
Wrote 172640 bytes (81799 compressed) at 0x00000000 in 2.3 seconds (effective 610.2 kbit/s)...
Hash of data verified.
Leaving...
Hard resetting via RTS pin...
也不知道是否成功了...
至少生成了文件：
-rwxr-xr-x 1 skywalk skywalk 2808092 May 17 19:08 nuttx
-rw-r--r-- 1 skywalk skywalk 172640 May 17 19:08 nuttx.bin
-rw-r--r-- 1 skywalk skywalk 369186 May 17 19:08 nuttx.hex
-rw-r--r-- 1 skywalk skywalk 47 May 17 19:08 nuttx.manifest
-rw-r--r-- 1 skywalk skywalk 1660487 May 17 19:08 nuttx.map就先到这里吧！
调试
编译报错ERROR: riscv64-unknown-elf-gcc failed: 1
make
Create version.h
LN: platform/board to /home/skywalk/github/nuttxspace/apps/platform/dummy
Register: dd
Register: dumpstack
Register: nsh
Register: sh
./stdlib/lib_strtold.c:42:10: fatal error: math.h: No such file or directory
42 | #include <math.h>
| ^~~~~~~~
compilation terminated.
ERROR: riscv64-unknown-elf-gcc failed: 1
command: riscv64-unknown-elf-gcc -MT bin/lib_strtold.o -M '-fno-common' '-Wall' '-Wstrict-prototypes' '-Wshadow' '-Wundef' '-Wno-attributes' '-Wno-unknown-pragmas' '-Wno-psabi' '-Os' '-fno-strict-aliasing' '-fno-omit-frame-pointer' '-fno-optimize-sibling-calls' '-ffunction-sections' '-fdata-sections' '-nostdlib' '-g' '-march=rv32imc' '-mabi=ilp32' '-isystem' '/home/skywalk/github/nuttxspace/nuttx/include' '-D__NuttX__' '-DNDEBUG' '-D__KERNEL__' '-Werror=return-type' '-I' '/home/skywalk/github/nuttxspace/nuttx/libs/libc' ./stdlib/lib_strtold.c
make[2]: *** [/home/skywalk/github/nuttxspace/nuttx/tools/Config.mk:232: lib_strtold.ddc] Error 1
make[1]: *** [Makefile:202: .depend] Error 2
make: *** [tools/Unix.mk:660: pass2dep] Error 2
又重新make了一下，报错简化成：
make
CC: stdlib/lib_strtold.c stdlib/lib_strtold.c:42:10: fatal error: math.h: No such file or directory
42 | #include <math.h>
| ^~~~~~~~
compilation terminated.
make[1]: *** [Makefile:156: bin/lib_strtold.o] Error 1
make: *** [tools/LibTargets.mk:196: libs/libc/libc.a] Error 2
检查math.h 是否存在
find /usr/include -name math.hfind /usr/include -name math.h
/usr/include/newlib/math.h
/usr/include/newlib/c++/10.3.1/math.h
/usr/include/newlib/c++/10.3.1/tr1/math.h
/usr/include/math.h
/usr/include/c++/11/math.h
/usr/include/c++/11/tr1/math.h
检查编译器路径
echo | gcc -E -v -看到这句
#include <...> search starts here:
/usr/lib/gcc/x86_64-linux-gnu/11/include
/usr/local/include
/usr/include/x86_64-linux-gnu
/usr/include证明应该可以看到math.h文件啊！
检查这两项：
7. 检查环境变量
确保环境变量 CC 和 CFLAGS 没有错误配置。例如：
export CC=gcc
export CFLAGS="-I/usr/include"
8. 检查 Makefile 配置
检查 Makefile 中是否有错误的配置，例如缺少 -lm 链接数学库。在 Makefile 中添加以下内容：
LDFLAGS += -lm问题解决
最终发现，这是已知的问题：`rv-virt:nsh64` can't build with stock gcc-riscv64-unknown-elf on Ubuntu Jammy · Issue #11341 · apache/nuttx
This is a know issue. Ubuntu release of RISC-V GCC is compiled without math libs. We can do nothing with that, but you can enable NuttX native math libraries support via CONFIG_ LIBM=y and still use RISC-V GCC provided by Ubuntu apt or pick another more mature toolchain
👍1
直接用命令：
make CONFIG_LIBM=y哇塞，终于过去了
cmake -B build -DBOARD_CONFIG=esp32c3-devkit:nsh -GNinja报错
cmake -B build -DBOARD_CONFIG=esp32c3-devkit:nsh -GNinja
CMake Error at CMakeLists.txt:89 (message):
Kconfig environment depends on kconfiglib, Please install:
(APT source)
$ sudo apt install python3-kconfiglib
or (pip source)
$ pip install kconfiglib
or (After Ubuntu 24.04)
$ pip install kconfiglib --break-system-packages
-- Configuring incomplete, errors occurred!
放弃cmake
make报错esptool.py not found. Please run: 'pip install esptool'
make
Create version.h
LN: platform/board to /home/skywalk/github/nuttxspace/apps/platform/dummy
Register: dd
Register: dumpstack
Register: nsh
Register: sh
CPP: /home/skywalk/github/nuttxspace/nuttx/boards/risc-v/esp32c3-legacy/esp32c3-devkit/../common/scripts/esp32c3_rom.ld-> /home/skywalk/github/nuttxspace/nuttx/boards/risc-v/esp32c3-legacy/esp32c3-devkit/../common/scripts/esp32c3_rom.ld.tmCPP: /home/skywalk/github/nuttxspace/nuttx/boards/risc-v/esp32c3-legacy/esp32c3-devkit/../common/scripts/flat_memory.ld-> /home/skywalk/github/nuttxspace/nuttx/boards/risc-v/esp32c3-legacy/esp32c3-devkit/../common/scripts/flat_memory.ld.tmCPP: /home/skywalk/github/nuttxspace/nuttx/boards/risc-v/esp32c3-legacy/esp32c3-devkit/../common/scripts/legacy_sections.ld-> /home/skywalk/github/nuttxspace/nuttx/boards/risc-v/esp32c3-legacy/esp32c3-devkit/../common/scripts/legacy_sectioLD: nuttx
Memory region Used Size Region Size %age Used
iram0_0_seg: 6624 B 321296 B 2.06%
irom0_0_seg: 107028 B 4194272 B 2.55%
dram0_0_seg: 13792 B 321296 B 4.29%
drom0_0_seg: 147892 B 4194272 B 3.53%
rtc_seg: 0 GB 8 KB 0.00%
CP: nuttx.hex
MKIMAGE: ESP32-C3 binary
esptool.py not found. Please run: 'pip install esptool'
Run make again to create the nuttx.bin image.
make: *** [tools/Unix.mk:559: nuttx] Error 1
按照提示的运行
pip install esptool